diff --git "a/json/train/data-00033-of-00160.json" "b/json/train/data-00033-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00033-of-00160.json"
@@ -0,0 +1,834 @@
+{"uid":"8889452010481000142","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- done\n\u003c/PRED\u003e","video":"1785953380680465088.mp4"}
+{"uid":"11341840150601068018","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"14240196172694213714.mp4"}
+{"uid":"1498479760837555871","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"9453854723317850542.mp4"}
+{"uid":"17127360300877376461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12857086139396191434.mp4"}
+{"uid":"3549702675762739673","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the shelf 2- place the book on the shelf 3- place the book on the shelf 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf Q: immediate next step? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e","video":"15195941846561813694.mp4"}
+{"uid":"17761770393856539150","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- place the book on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the shelf 2- place the book on the shelf 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf Q: immediate next step? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- place the book on the shelf Q: immediate next step? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e","video":"7483701790041713715.mp4"}
+{"uid":"14922789288594024166","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"6211189612353839090.mp4"}
+{"uid":"4329079783904801756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5978223216197348652.mp4"}
+{"uid":"4558235573032969714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12031716215997487504.mp4"}
+{"uid":"17734364152533292212","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16919477478972302847.mp4"}
+{"uid":"9099592997496571875","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"18164152150198813898.mp4"}
+{"uid":"3775068512112366565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10619099202052563880.mp4"}
+{"uid":"13128134264642664004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16296254448230453331.mp4"}
+{"uid":"6003356749249732610","text":"\u003ctask:success:discrete:True\u003e\nPut the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"13429411858660915921.mp4"}
+{"uid":"641700000908983619","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"5390898908505894488.mp4"}
+{"uid":"5282932496899398608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14694776797503043073.mp4"}
+{"uid":"7749008374903679650","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- place the book on the shelf 2- place the book on the shelf Q: immediate next step? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- place the book on the shelf 2- place the book on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the shelf 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf Q: immediate next step? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e","video":"2945539338801194656.mp4"}
+{"uid":"8927263083224171778","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e","video":"11516972056424901251.mp4"}
+{"uid":"1835239629023194650","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5156343545819196014.mp4"}
+{"uid":"8039576823905118074","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3465753826250821494.mp4"}
+{"uid":"14306065787731295513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16023972882958899365.mp4"}
+{"uid":"4302375106281329215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace wire in carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16269295113603002269.mp4"}
+{"uid":"8074092244839445213","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- place the book on the shelf 2- place the book on the shelf 3- place the book on the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: There are some books in the desk can you keep it back organized in bookshelf. last 20 steps: 1- place the book on the shelf 2- place the book on the shelf 3- place the book on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the shelf\n\u003c/PRED\u003e","video":"3960390408853693106.mp4"}
+{"uid":"5362996773785024098","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: 1- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"3249176493343873261.mp4"}
+{"uid":"480318420280068208","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the writing utensils in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"17179982707863696331.mp4"}
+{"uid":"7963287383586202097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6871918095042229057.mp4"}
+{"uid":"7075733180116520832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9485501612776226982.mp4"}
+{"uid":"5830278867230488989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bottle on the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6901762315119447390.mp4"}
+{"uid":"16972636752826934522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3398989511357566694.mp4"}
+{"uid":"2430725211805715523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"215432295027713715.mp4"}
+{"uid":"12344996785614699998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13567035314922183524.mp4"}
+{"uid":"15480815749895702069","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"17834442556895980780.mp4"}
+{"uid":"16600231912455856231","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"800574768277954962.mp4"}
+{"uid":"14990413053255111398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4079327293325233839.mp4"}
+{"uid":"3859314089039609910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a seed into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12491751466769190500.mp4"}
+{"uid":"14795431336709888425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3831211235197281683.mp4"}
+{"uid":"8356321843525671815","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"1515767706008549364.mp4"}
+{"uid":"6917787679376857621","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the tray table 2- place the book on the tray table 3- place the book on the tray table 4- place the book on the tray table 5- close the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2618704055352125231.mp4"}
+{"uid":"1398041601099222317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace peas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11392639627245442631.mp4"}
+{"uid":"10536167051973101573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10717649981931898735.mp4"}
+{"uid":"3326324954095838313","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the tray table in the corner\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table 19- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray table in the corner 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tray table in the corner\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tray table in the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray table in the corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tray table in the corner\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table 19- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the tray table in the corner\n\u003c/PRED\u003e","video":"10750012025017967683.mp4"}
+{"uid":"15775568034389793128","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray table near the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tray table near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4196124561460383003.mp4"}
+{"uid":"9312618446854453109","text":"\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"13537603471913496946.mp4"}
+{"uid":"17149430470498867183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5284329849480460203.mp4"}
+{"uid":"14248324565291899964","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the doors of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: open the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- open the doors of the cupboard 2- place the book on the tray table 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the doors of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard Q: immediate next step? \u003cPRED\u003eA: open the doors of the cupboard\n\u003c/PRED\u003e","video":"17342904512531671856.mp4"}
+{"uid":"15779268952614372354","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the tray table 2- close the doors of the cupboard 3- place the tray table near the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e","video":"12930014758682464526.mp4"}
+{"uid":"12522655256034169425","text":"\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"12822933914624915721.mp4"}
+{"uid":"4961980575085384024","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray table near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tray table near the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard Q: immediate next step? \u003cPRED\u003eA: place the tray table near the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tray table near the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray table near the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the tray table near the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tray table near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16611484271192919465.mp4"}
+{"uid":"13992927877489665775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray table in the corner\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table 19- place the pen on the table 20- place the tray table in the corner Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table 19- place the pen on the table 20- place the tray table in the corner Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tray table in the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10988943864341885919.mp4"}
+{"uid":"4222120535429702499","text":"\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"7273704476247650639.mp4"}
+{"uid":"8887497951805350742","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the tray table in the corner 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table 18- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5970245059162127957.mp4"}
+{"uid":"17450703095249807910","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the tray table in the corner 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table 17- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12444719980893378997.mp4"}
+{"uid":"14716867410506727770","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"7035697954942098405.mp4"}
+{"uid":"17945604138830727456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the black file downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13765362764875139692.mp4"}
+{"uid":"16205574913519816430","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the tray table 2- place the book on the tray table 3- close the doors of the cupboard 4- place the tray table near the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e","video":"14258949100661454961.mp4"}
+{"uid":"11804176462513467253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pepsi can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8075514807365762780.mp4"}
+{"uid":"9385248725597375304","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- close the doors of the cupboard 2- place the tray table near the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the doors of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the doors of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table Q: immediate next step? \u003cPRED\u003eA: close the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: close the doors of the cupboard\n\u003c/PRED\u003e","video":"7401268789749962623.mp4"}
+{"uid":"8619081827884413331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput container near tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15213975404978172431.mp4"}
+{"uid":"2396086579324810526","text":"\u003ctask:success:discrete:True\u003e\nplace the tray table near the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray table near the cupboard\n\u003c/PRED\u003e","video":"7414735786407762162.mp4"}
+{"uid":"10806194769449088136","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the tray table 2- place the book on the tray table 3- place the book on the tray table 4- close the doors of the cupboard 5- place the tray table near the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e","video":"7516917347179415324.mp4"}
+{"uid":"400107045298210989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the doors of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the doors of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10674108819751945931.mp4"}
+{"uid":"5837103805205197007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1416786089663820080.mp4"}
+{"uid":"6029517921697032251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13897307937668485447.mp4"}
+{"uid":"10253277829055124622","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2390630105375377852.mp4"}
+{"uid":"644711587361907081","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the tray table 2- place the book on the tray table 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the tray table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the tray table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7238555865907306589.mp4"}
+{"uid":"5172811802453424089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9397051619378279068.mp4"}
+{"uid":"7036819926838922601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1299534224091418205.mp4"}
+{"uid":"18401534623431141326","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"13576432818623198199.mp4"}
+{"uid":"6955918789043881262","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2441384388336749898.mp4"}
+{"uid":"15549505350971866309","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7443268867909304675.mp4"}
+{"uid":"11120979441897759257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4818575744089350027.mp4"}
+{"uid":"17064490262715540167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bath toy in the  container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10424632781111958588.mp4"}
+{"uid":"5859006929842835243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the candies Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17552563452152294878.mp4"}
+{"uid":"15933974924467800928","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the tray table near the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the tray table near the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tray table near the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tray table near the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray table near the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tray table near the cupboard\n\u003c/PRED\u003e","video":"15705975274694901391.mp4"}
+{"uid":"11990152810442158730","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"599184602512887873.mp4"}
+{"uid":"956173381146751642","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the tray table in the corner\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"5434151241521330793.mp4"}
+{"uid":"2011520413887377590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tong near the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7224954643705314867.mp4"}
+{"uid":"4017664170204049559","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the tray table in the corner 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the cart to the supply cabinet and bring back five quad-ruled notebooks to place on the conference table. Give each of those five seats a blue pen as well. last 20 steps: 1- place the tray table near the cupboard 2- open the doors of the cupboard 3- place the book on the tray table 4- place the book on the tray table 5- place the book on the tray table 6- place the book on the tray table 7- place the book on the tray table 8- close the doors of the cupboard 9- place the tray table near the table 10- place the book on the table 11- place the book on the table 12- place the book on the table 13- place the book on the table 14- place the book on the table 15- place the pen on the table 16- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"13778940881320329023.mp4"}
+{"uid":"14898369742241219361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the blue chocolate in the right most glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7149843792906219844.mp4"}
+{"uid":"14078393389055004118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1808551964810336352.mp4"}
+{"uid":"7922849618432584213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5120561640091908128.mp4"}
+{"uid":"11873922397855333066","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup 13- place candy into the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup 13- place candy into the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace candy into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9236387762809943257.mp4"}
+{"uid":"10984686261672831014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18111687030035221821.mp4"}
+{"uid":"2147035011835405845","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8813564424092324987.mp4"}
+{"uid":"11123151218316643371","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana Q: immediate next step? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the dustbin 2- Pick the banana 3- put the banana in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17966635465647252960.mp4"}
+{"uid":"11632544741679273419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14446324814181209964.mp4"}
+{"uid":"12001279548429872619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9465331496057419219.mp4"}
+{"uid":"16900175327523317228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the snacks in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15606592556078563821.mp4"}
+{"uid":"16001852167422570871","text":"\u003ctask:success:discrete:False\u003e\nplace the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the bowl 2- put terra packet in the bowl 3- put the candy in the glass 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e","video":"5187839125342397798.mp4"}
+{"uid":"9896430308383562478","text":"\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"10780271055977223659.mp4"}
+{"uid":"12221303593992841565","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana Q: immediate next step? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e","video":"8032348392897506594.mp4"}
+{"uid":"4161890721007815355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the book in a shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2823306964889339552.mp4"}
+{"uid":"16762484743768228753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace book in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7449669315536054061.mp4"}
+{"uid":"14332157875049429636","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana Q: immediate next step? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e","video":"8175776040893442193.mp4"}
+{"uid":"7028403355891892975","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2761859717686955486.mp4"}
+{"uid":"8326053921166492309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15438730046151904929.mp4"}
+{"uid":"17969570052481127871","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"11809958071520154699.mp4"}
+{"uid":"15061224098951774561","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange packet in the bowl 2- place skyblue packet in the bowl 3- drop the packet into the bowl 4- put terra packet in the bowl 5- put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13487293772583174907.mp4"}
+{"uid":"3597585582900790300","text":"\u003ctask:success:discrete:True\u003e\nplace skyblue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e","video":"9844521900151963070.mp4"}
+{"uid":"13731866171410362644","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"5801909420240966052.mp4"}
+{"uid":"4682799364768928326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2473025324417352726.mp4"}
+{"uid":"4656387739967874442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cushion properly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8568630264561464429.mp4"}
+{"uid":"2047064172446415872","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"4382379170268794160.mp4"}
+{"uid":"9828844582004987415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17243597915201339411.mp4"}
+{"uid":"10463304628690546619","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the bowl 2- drop the packet into the bowl 3- place skyblue packet in the bowl 4- drop the packet into the bowl 5- put terra packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"285799831907753860.mp4"}
+{"uid":"3377175748190042030","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16638962050545060045.mp4"}
+{"uid":"10764601920707179185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rubic cube in white basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14185100655826982556.mp4"}
+{"uid":"15808792595379289165","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the banana out from the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the banana out from the room 2- put the banana in the dustbin 3- Pick the banana 4- put the banana in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the banana out from the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: move the banana out from the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the banana out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the banana out from the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the banana out from the room\n\u003c/PRED\u003e","video":"18394110683278831713.mp4"}
+{"uid":"16467768410502889791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5717207243023632379.mp4"}
+{"uid":"3568874109981939425","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the bowl 2- put the candy in the glass 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e","video":"3779939724891736945.mp4"}
+{"uid":"12893061492328882111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5946538318400901377.mp4"}
+{"uid":"11556395300986880633","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e","video":"9069980826704955366.mp4"}
+{"uid":"14400874550021209071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17695455818655875773.mp4"}
+{"uid":"3848975076471716787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14863583856099510167.mp4"}
+{"uid":"16064332207346951040","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e","video":"13434458541104656185.mp4"}
+{"uid":"2833225032363904773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1872806137442759499.mp4"}
+{"uid":"14327626863024627447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3946883084078320367.mp4"}
+{"uid":"1924111429473514565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15857340387893030554.mp4"}
+{"uid":"16041493999214353860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"387677715223635864.mp4"}
+{"uid":"2410199685119798205","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace skyblue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace skyblue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"134045842116041294.mp4"}
+{"uid":"8670723374135453001","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the banana 2- put the banana in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin Q: immediate next step? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e","video":"5558991799564956971.mp4"}
+{"uid":"17409550905530598239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2235327061022160925.mp4"}
+{"uid":"14841274206330075303","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put terra packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put terra packet in the bowl 2- put the candy in the glass 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put terra packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput terra packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput terra packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put terra packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put terra packet in the bowl\n\u003c/PRED\u003e","video":"16404500942625008606.mp4"}
+{"uid":"6995694118517326040","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e","video":"17567857873443269507.mp4"}
+{"uid":"2704668270859586268","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the glass 2- drop the candy in the cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e","video":"3699896351952412193.mp4"}
+{"uid":"17219908573734889377","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"7947290311814836969.mp4"}
+{"uid":"13740944935458435130","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"1177972142358309980.mp4"}
+{"uid":"12307713115427659379","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet in the bowl 2- drop the packet into the bowl 3- place skyblue packet in the bowl 4- drop the packet into the bowl 5- put terra packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the bowl\n\u003c/PRED\u003e","video":"12118739016068905109.mp4"}
+{"uid":"13137408866950953309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14184551967745933249.mp4"}
+{"uid":"17666902685663865351","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"5985596984243090653.mp4"}
+{"uid":"18172059765758521568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the topmost plant to the left slightly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13479026727712162739.mp4"}
+{"uid":"10447378987039434991","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e","video":"5935002721265504555.mp4"}
+{"uid":"5566961351725429945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the silver red packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17664725374523283045.mp4"}
+{"uid":"7910232331085734049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7449788142162294416.mp4"}
+{"uid":"9303844608607948434","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the banana peel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Pick up the banana peel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the banana peel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the banana peel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the banana peel 2- put the banana in the dustbin 3- Pick the banana 4- put the banana in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the banana peel\n\u003c/PRED\u003e","video":"3018161717213840247.mp4"}
+{"uid":"6775020356636820812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the tray backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"230344465648077531.mp4"}
+{"uid":"10393708373068164917","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place blue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- place skyblue packet in the bowl 5- drop the packet into the bowl\n\u003c/PRED\u003e","video":"3944438729819042107.mp4"}
+{"uid":"7264889743029529290","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put terra packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput terra packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4861100043019457406.mp4"}
+{"uid":"17829665950666752322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9196345850617351235.mp4"}
+{"uid":"9432651704993092762","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the bowl 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e","video":"17356982321815928900.mp4"}
+{"uid":"4193595286136561805","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"14471243898506300794.mp4"}
+{"uid":"9311666892468392324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7748015959223267722.mp4"}
+{"uid":"6992330331978052942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16067840147234279948.mp4"}
+{"uid":"5508722941077391102","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16526099776334828667.mp4"}
+{"uid":"2685406271941037729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in white squarish bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13932264020258395358.mp4"}
+{"uid":"5220329196443332763","text":"\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"17825501315260833209.mp4"}
+{"uid":"3271694359492231185","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace skyblue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place skyblue packet in the bowl 2- put terra packet in the bowl 3- put the candy in the glass 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e","video":"11255254389242650801.mp4"}
+{"uid":"13997991376371837120","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e","video":"2715887390285738495.mp4"}
+{"uid":"2693714907237572442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6588414489775833026.mp4"}
+{"uid":"14726963915078972935","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"2447633185315858383.mp4"}
+{"uid":"17093987020069076630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown belt in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10200462020163736248.mp4"}
+{"uid":"2760042063505606787","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7565774448492779140.mp4"}
+{"uid":"1093838145935774583","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the bowl 2- put terra packet in the bowl 3- put the candy in the glass 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e","video":"16937795081421641098.mp4"}
+{"uid":"15990798127894702901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13489973656896897555.mp4"}
+{"uid":"4052647277654726487","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13145336779562252799.mp4"}
+{"uid":"18424870337413006750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the left side indoor plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4544224012267516493.mp4"}
+{"uid":"1913901226556824006","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the bowl 2- drop the packet into the bowl 3- place skyblue packet in the bowl 4- drop the packet into the bowl 5- put terra packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18221242769536522742.mp4"}
+{"uid":"13487346426092882687","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the bowl 2- drop the packet into the bowl 3- put terra packet in the bowl 4- put the candy in the glass 5- drop the candy in the cup\n\u003c/PRED\u003e","video":"4557087051679025920.mp4"}
+{"uid":"94354483188285489","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana Q: immediate next step? \u003cPRED\u003eA: Put the banana in recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Put the banana in recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1009743303925682347.mp4"}
+{"uid":"734259671950228344","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup 13- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup 13- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13508437102623265690.mp4"}
+{"uid":"11987698013511569953","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana 4- put the banana in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana 4- put the banana in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e","video":"8696255280490154051.mp4"}
+{"uid":"3112131355351620421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17180186394466264398.mp4"}
+{"uid":"15863363512018902599","text":"\u003ctask:success:discrete:False\u003e\nplace skyblue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place skyblue packet in the bowl 2- put terra packet in the bowl 3- put the candy in the glass 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace skyblue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e","video":"2123006656428545281.mp4"}
+{"uid":"7715507932583245552","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the banana 2- put the banana in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin Q: immediate next step? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e","video":"13508170031254228275.mp4"}
+{"uid":"13795618620192497073","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6239480763468516156.mp4"}
+{"uid":"2770092957080111871","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- done\n\u003c/PRED\u003e","video":"7253082430675925216.mp4"}
+{"uid":"9454845310719842476","text":"\u003ctask:success:discrete:True\u003e\ndrop the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"7509473197503466151.mp4"}
+{"uid":"9810771780678613790","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"3214036055070399599.mp4"}
+{"uid":"3146548902899172851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15566361136726437423.mp4"}
+{"uid":"12870345876815764274","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange packet in the bowl 2- drop the packet into the bowl 3- put terra packet in the bowl 4- put the candy in the glass 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange packet in the bowl\n\u003c/PRED\u003e","video":"17095874639265848785.mp4"}
+{"uid":"1756936208128772600","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana peel in recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana peel in recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana peel in recycle bin 2- Pick the banana 3- put the banana in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Put the banana peel in recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana peel in recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana peel in recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana Q: immediate next step? \u003cPRED\u003eA: Put the banana peel in recycle bin\n\u003c/PRED\u003e","video":"3747658896635369102.mp4"}
+{"uid":"18239329122288468244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10190785544171231524.mp4"}
+{"uid":"2050843650445736296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two white sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18323440555065937730.mp4"}
+{"uid":"9171174025170788760","text":"\u003ctask:success:discrete:True\u003e\nmove banana out from room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move banana out from room\n\u003c/PRED\u003e","video":"16905204698767280379.mp4"}
+{"uid":"10265269408940099171","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the banana out from the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the banana out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7770349862366642737.mp4"}
+{"uid":"2097971255525457685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13948474770688663959.mp4"}
+{"uid":"14609465985647309648","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"4879971682939822994.mp4"}
+{"uid":"8064536469089020976","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12454781505373446193.mp4"}
+{"uid":"14885934698638383605","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the bowl 2- place skyblue packet in the bowl 3- drop the packet into the bowl 4- put terra packet in the bowl 5- put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e","video":"11007553600671758438.mp4"}
+{"uid":"8716680462913354105","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e","video":"16645881841510148748.mp4"}
+{"uid":"7435843643544557351","text":"\u003ctask:success:discrete:False\u003e\nPick the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the banana 2- put the banana in the dustbin 3- Pick the banana 4- put the banana in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Pick the banana\n\u003c/PRED\u003e","video":"3942772778031231178.mp4"}
+{"uid":"1342310716746429979","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the bowl 2- place skyblue packet in the bowl 3- drop the packet into the bowl 4- put terra packet in the bowl 5- put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the bowl\n\u003c/PRED\u003e","video":"12833089020081456936.mp4"}
+{"uid":"17199738531341006157","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the bowl 2- put terra packet in the bowl 3- put the candy in the glass 4- drop the candy in the cup 5- drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the bowl\n\u003c/PRED\u003e","video":"12419224533173945505.mp4"}
+{"uid":"3628816333964310059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the watermelon piece in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7372883084037028225.mp4"}
+{"uid":"12169488749888945518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"181788694070559842.mp4"}
+{"uid":"17879885783421751514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1578919700442494073.mp4"}
+{"uid":"9680376047272866091","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place candy into the glass\n\u003c/PRED\u003e","video":"10420157984149771264.mp4"}
+{"uid":"17424063071594082518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6703630900201357769.mp4"}
+{"uid":"5144094888568544599","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15196131494303090505.mp4"}
+{"uid":"17761526041255353565","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the glass 2- drop the candy in the cup 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"7924215119377110659.mp4"}
+{"uid":"4773424359354433407","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e","video":"12896825277949001680.mp4"}
+{"uid":"441225715778277098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in the cup\n\u003c/PRED\u003e","video":"7932881472619129836.mp4"}
+{"uid":"14600159087893741989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2601937907085828883.mp4"}
+{"uid":"14942649021068492818","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the glass 2- drop the candy in the cup 3- drop the candy in the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup Q: immediate next step? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2515654410671314802.mp4"}
+{"uid":"5298697471421580942","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin Q: immediate next step? \u003cPRED\u003eA: move banana out from room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move banana out from room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move banana out from room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove banana out from room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove banana out from room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana 2- put the banana in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- move banana out from room 2- put the banana in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: move banana out from room\n\u003c/PRED\u003e","video":"4295329249726845930.mp4"}
+{"uid":"9864930519299105229","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place skyblue packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace skyblue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- place skyblue packet in the bowl 5- drop the packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the bowl\n\u003c/PRED\u003e","video":"15367612126607035851.mp4"}
+{"uid":"17504264105407961214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bags in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7156006739206283180.mp4"}
+{"uid":"6615980144568327409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the last packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"284399275253467148.mp4"}
+{"uid":"12742410061338690806","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup 13- put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place skyblue packet in the bowl 2- drop the packet into the bowl 3- drop the packet into the bowl 4- drop the packet into the bowl 5- place skyblue packet in the bowl 6- drop the packet into the bowl 7- put terra packet in the bowl 8- put the candy in the glass 9- drop the candy in the cup 10- drop the candy in the cup 11- drop the candy in the cup 12- drop the candy in the cup 13- put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the glass\n\u003c/PRED\u003e","video":"14973951334547429381.mp4"}
+{"uid":"5420843245245556580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"209518829285671952.mp4"}
+{"uid":"7341335607787210638","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the dust bin 2- Pick the banana 3- put the banana in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the rotting bananas into the compostables bin. last 20 steps: 1- Pick the banana Q: immediate next step? \u003cPRED\u003eA: Put the banana in the dust bin\n\u003c/PRED\u003e","video":"11476222016927634997.mp4"}
+{"uid":"8555806123269327046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10882031055807645272.mp4"}
+{"uid":"3217710805666174984","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"752006055066267004.mp4"}
+{"uid":"11952370719151423608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10440270491436917974.mp4"}
+{"uid":"12962089367418161736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15015112065291985638.mp4"}
+{"uid":"1776898440247712079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17312541489686112395.mp4"}
+{"uid":"13915334715062888311","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"6116983380560811596.mp4"}
+{"uid":"14963187648084475031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2456461434818746782.mp4"}
+{"uid":"10340682958767147088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6952184296578795748.mp4"}
+{"uid":"15003939663519114286","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6081558049601074165.mp4"}
+{"uid":"9871005989324353069","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17065408978224588889.mp4"}
+{"uid":"12362194960713225071","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"1731262762782741542.mp4"}
+{"uid":"7834959873151774674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the salt packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7302801886204197172.mp4"}
+{"uid":"7817302335612717757","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12512308247700293269.mp4"}
+{"uid":"7006341767947909255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1124154964957436945.mp4"}
+{"uid":"4775162671277222674","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"13633388086949499340.mp4"}
+{"uid":"8776036143216768037","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl 9- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl 9- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7679875183239440140.mp4"}
+{"uid":"17727285837128258588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5388080903234097164.mp4"}
+{"uid":"16489452637482538586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7140092341299826174.mp4"}
+{"uid":"13185026833507952298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clips box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1602022643000809887.mp4"}
+{"uid":"13982024993301504057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16361302278175476304.mp4"}
+{"uid":"13983880829190558826","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e","video":"8138057661772297383.mp4"}
+{"uid":"4370284635682556575","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"17071777299410633962.mp4"}
+{"uid":"7834335643532209454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10099737209773701153.mp4"}
+{"uid":"413926567347616769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2858630751741326623.mp4"}
+{"uid":"18097664663019576696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17964202668565748085.mp4"}
+{"uid":"14120537102729446274","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"13135665877613821229.mp4"}
+{"uid":"1538482879274575923","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16115723759278841728.mp4"}
+{"uid":"11535562299003967100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the pistachio into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6143740767296589539.mp4"}
+{"uid":"7226555865278055179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3630305770269026383.mp4"}
+{"uid":"13706128225629046757","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17134280616794432303.mp4"}
+{"uid":"7635718842710445982","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18396910345183027341.mp4"}
+{"uid":"16008039586142574785","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"10974526117543660154.mp4"}
+{"uid":"15432749950366969455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10641318298357265042.mp4"}
+{"uid":"11630382494028853617","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"12079765392612274735.mp4"}
+{"uid":"4545644856514666046","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"4355098083495369877.mp4"}
+{"uid":"15858030849410270639","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e","video":"13263110855824804577.mp4"}
+{"uid":"4630569644894610701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6754126659816055015.mp4"}
+{"uid":"15893142008462826296","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"11102489868009641746.mp4"}
+{"uid":"9352585201445076396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass in another white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11315328936667981854.mp4"}
+{"uid":"2286363992423435206","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"17411165242162865878.mp4"}
+{"uid":"11028837006902863079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12088195954685050727.mp4"}
+{"uid":"2373705539947839640","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- done\n\u003c/PRED\u003e","video":"14642834290217020972.mp4"}
+{"uid":"2410173021944627260","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3855142702037018484.mp4"}
+{"uid":"6565608601310369991","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"6531201056110757264.mp4"}
+{"uid":"6436497307784233036","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16393479624952434866.mp4"}
+{"uid":"12223289949276959963","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e","video":"3152582246497248596.mp4"}
+{"uid":"13228763786530375998","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13996636652901598402.mp4"}
+{"uid":"12186041000676564986","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1128732580043446626.mp4"}
+{"uid":"11294280676738095793","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"14511322489437471388.mp4"}
+{"uid":"1901360824289248880","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"430940116136502040.mp4"}
+{"uid":"5754774247615199405","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- drop the apple into the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"17795906585740381564.mp4"}
+{"uid":"10168525807771105647","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2275341853973256549.mp4"}
+{"uid":"10573218934398245734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11896848707921056800.mp4"}
+{"uid":"14930551809219281654","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl 9- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl 9- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18440037303800783224.mp4"}
+{"uid":"14284189981981465582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6130752885157098188.mp4"}
+{"uid":"6898540244229058646","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl 6- drop the apple into the bowl 7- drop the apple into the bowl 8- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"4716593639105570207.mp4"}
+{"uid":"11476775571250072161","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- done\n\u003c/PRED\u003e","video":"12084299353218427398.mp4"}
+{"uid":"17743686872864982780","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3272746430438284983.mp4"}
+{"uid":"2054314199827671557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1590944979975538190.mp4"}
+{"uid":"7103272361353945902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14197475594874565834.mp4"}
+{"uid":"10761522340380650926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2394221582598678260.mp4"}
+{"uid":"10220387855379698508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8524248938271156023.mp4"}
+{"uid":"14405681126137955278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2227761309408881083.mp4"}
+{"uid":"11770705933261685275","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- drop the apple into the bowl 3- drop the apple into the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the apples into the bowl. last 20 steps: 1- put the apple in the bowl 2- put the apple in the bowl 3- drop the apple into the bowl 4- drop the apple into the bowl 5- drop the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the apples into the bowl Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"13208541009646994285.mp4"}
+{"uid":"3156585900935251821","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the orange on the table 3- place the grapes on the table 4- place the banana on the table 5- done\n\u003c/PRED\u003e","video":"17495510397838506778.mp4"}
+{"uid":"14246314547323491288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17059872218527843066.mp4"}
+{"uid":"15776885765906963524","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table 7- place the orange on the table 8- place the grapes on the table 9- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table 7- place the orange on the table 8- place the grapes on the table 9- place the banana on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7094930166773940936.mp4"}
+{"uid":"12610308090577744987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17971851780596666965.mp4"}
+{"uid":"13181269975752759456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5477292963550475710.mp4"}
+{"uid":"11338971067240883802","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- pick up the packet 3- place that packet on the table 4- close the drawer 5- pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"13056425497090735135.mp4"}
+{"uid":"4445848879898816994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1809055355116207200.mp4"}
+{"uid":"9386089711093077348","text":"\u003ctask:success:discrete:True\u003e\nPick up the wrappers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the wrappers\n\u003c/PRED\u003e","video":"6247850093819033671.mp4"}
+{"uid":"6742028561897337081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper in a dustbin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16546607536896543944.mp4"}
+{"uid":"12530616156899851246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12828591445952135023.mp4"}
+{"uid":"14493321971501088452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the plastic box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14864899753544509521.mp4"}
+{"uid":"9323572244492255632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9774968472587019845.mp4"}
+{"uid":"1839114846453309392","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8231023768572407618.mp4"}
+{"uid":"6476666332395836627","text":"\u003ctask:success:discrete:True\u003e\nplace pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e","video":"13338117289445212122.mp4"}
+{"uid":"9046494867243970275","text":"\u003ctask:success:discrete:False\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- place that packet on the table 3- close the drawer 4- pick up the packet 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"6419079010922172527.mp4"}
+{"uid":"1771707514623151464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4165457218831338862.mp4"}
+{"uid":"10144128541253067677","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet on the table 2- close the drawer 3- pick up the packet 4- place the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet Q: immediate next step? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e","video":"4043234610735915665.mp4"}
+{"uid":"11450239420333935711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13656319263041403967.mp4"}
+{"uid":"2657430535834232797","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table Q: immediate next step? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen sticky note on the table 2- put black pen in the holder 3- put sticky note in the organizer 4- open the drawer 5- pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14298666511447885292.mp4"}
+{"uid":"18325037091759891973","text":"\u003ctask:success:discrete:True\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"11822685805092687478.mp4"}
+{"uid":"13467393885738155633","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace that packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10720097248895201920.mp4"}
+{"uid":"10430436486913645200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the bag from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5066747568499660060.mp4"}
+{"uid":"15084591917112555041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13753484724057933257.mp4"}
+{"uid":"4377001533358677299","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table 7- place the orange on the table 8- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table 7- place the orange on the table 8- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2812048557124178360.mp4"}
+{"uid":"17386550997414377249","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"217591478339848592.mp4"}
+{"uid":"12168742925429953285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11297182815002599563.mp4"}
+{"uid":"6702154774403824685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8315878494853466008.mp4"}
+{"uid":"10650328287175652804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2489399339481979612.mp4"}
+{"uid":"13196842710416106765","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow marker in the drawer 2- place two pens in the drawer 3- place pen in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad Q: immediate next step? \u003cPRED\u003eA: place yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer Q: immediate next step? \u003cPRED\u003eA: place yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green marker in the drawer\n\u003c/PRED\u003e","video":"2734541602443338589.mp4"}
+{"uid":"16579887631151772299","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the apple on the table 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"9602535561859923718.mp4"}
+{"uid":"9617377762159740896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm towards the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12596268989472771912.mp4"}
+{"uid":"11671016326873760472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paperclip into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16101018356876869815.mp4"}
+{"uid":"8349290304632940258","text":"\u003ctask:success:discrete:True\u003e\nput sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sticky note in the organizer\n\u003c/PRED\u003e","video":"11625431984343814119.mp4"}
+{"uid":"9390324547518865545","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am done for the day can you throw away trash from my desk . last 20 steps: 1- Pick up the wrappers Q: immediate next step? \u003cPRED\u003eA: Put the wrappers in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wrappers in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wrappers in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wrappers in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am done for the day can you throw away trash from my desk Q: immediate next step? \u003cPRED\u003eA: Put the wrappers in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am done for the day can you throw away trash from my desk . last 20 steps: 1- Pick up the wrappers Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wrappers in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wrappers in the dustbin\n\u003c/PRED\u003e","video":"1668970544881477511.mp4"}
+{"uid":"8775362506372351763","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer 5- place two pens in the drawer 6- place pen in the drawer 7- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer 5- place two pens in the drawer 6- place pen in the drawer 7- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8826642624454905627.mp4"}
+{"uid":"5838789005742852488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9546412469848178283.mp4"}
+{"uid":"6274610456091861893","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7862434629277345870.mp4"}
+{"uid":"8216871310837246087","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet 9- place that packet on the table 10- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet 9- place that packet on the table 10- close the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5700261951058233026.mp4"}
+{"uid":"2216936654351827548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11047285860120674472.mp4"}
+{"uid":"987455358603286883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14126368069137367311.mp4"}
+{"uid":"380335083452907847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the highlighter in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11053959424319692108.mp4"}
+{"uid":"5993607815792297186","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder Q: immediate next step? \u003cPRED\u003eA: put sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky note in the organizer 2- open the drawer 3- pick up the packet 4- place that packet on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sticky note in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky note in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: put sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky note in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky note in the organizer\n\u003c/PRED\u003e","video":"5314979120723943140.mp4"}
+{"uid":"7185472269910684731","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the orange on the table 3- place the apple on the table 4- place the orange on the table 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"5227808105381456896.mp4"}
+{"uid":"7137285574234081797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer 5- place two pens in the drawer 6- place pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer 5- place two pens in the drawer 6- place pen in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"6350455559957716176.mp4"}
+{"uid":"6085777189896100516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white box in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10596103538982622408.mp4"}
+{"uid":"247306250239879518","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen Q: immediate next step? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky note 2- place black pen sticky note on the table 3- place black pen sticky note on the table 4- put black pen in the holder 5- put sticky note in the organizer\n\u003c/PRED\u003e","video":"13476316381375991518.mp4"}
+{"uid":"1026597688617094644","text":"\u003ctask:success:discrete:True\u003e\npick up the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sticky note\n\u003c/PRED\u003e","video":"5533600547597931070.mp4"}
+{"uid":"1657318793057822456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17426268109605611843.mp4"}
+{"uid":"11856979909958585066","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note Q: immediate next step? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen sticky note on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen sticky note on the table 2- place black pen sticky note on the table 3- put black pen in the holder 4- put sticky note in the organizer 5- open the drawer\n\u003c/PRED\u003e","video":"2280951356511813843.mp4"}
+{"uid":"17773448243333041643","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the grapes on the table\n\u003c/PRED\u003e","video":"5293314463405267196.mp4"}
+{"uid":"6564391677883100042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12844814055341586364.mp4"}
+{"uid":"3962893453683871307","text":"\u003ctask:success:discrete:False\u003e\nplace green marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place green marker in the drawer 2- place yellow marker in the drawer 3- place two pens in the drawer 4- place pen in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer Q: immediate next step? \u003cPRED\u003eA: place green marker in the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad Q: immediate next step? \u003cPRED\u003eA: place green marker in the drawer\n\u003c/PRED\u003e","video":"8013483746271015162.mp4"}
+{"uid":"5451299888814758957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the avocado in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12437853746331901918.mp4"}
+{"uid":"13044268630674409828","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two pens in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place two pens in the drawer 2- place pen in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two pens in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two pens in the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer Q: immediate next step? \u003cPRED\u003eA: place two pens in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two pens in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad Q: immediate next step? \u003cPRED\u003eA: place two pens in the drawer\n\u003c/PRED\u003e","video":"3815243795593116136.mp4"}
+{"uid":"15479977746237819801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16583220271111546546.mp4"}
+{"uid":"2849688557224026114","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am done for the day can you throw away trash from my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am done for the day can you throw away trash from my desk . last 20 steps: 1- Pick up the wrappers 2- Put the wrappers in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am done for the day can you throw away trash from my desk . last 20 steps: 1- Pick up the wrappers 2- Put the wrappers in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the wrappers in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the wrappers in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13171071783664775697.mp4"}
+{"uid":"14801069768044578917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12244157796940968914.mp4"}
+{"uid":"9900372347434918601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the cardboard boxes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7064640959811509652.mp4"}
+{"uid":"16508367442901735222","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8237525327446689478.mp4"}
+{"uid":"15960318062951993914","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer Q: immediate next step? \u003cPRED\u003eA: place pink marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad Q: immediate next step? \u003cPRED\u003eA: place pink marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink marker in the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place sticky notes in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink marker in the drawer 2- place green marker in the drawer 3- place yellow marker in the drawer 4- place two pens in the drawer 5- place pen in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace sticky notes in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11252040025320527918.mp4"}
+{"uid":"3134602797555594962","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1969237306330333322.mp4"}
+{"uid":"15625936989310056873","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table 7- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table 7- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- place the banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e","video":"6892943512666003760.mp4"}
+{"uid":"8863761595779479604","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet 9- place that packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pick up the packet 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet 9- place that packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"1850122718122334535.mp4"}
+{"uid":"13184740507663157860","text":"\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the grapes on the table 5- place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"3405539602959603583.mp4"}
+{"uid":"16626813190371117590","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace two pens in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place two pens in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer 5- place two pens in the drawer Q: immediate next step? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad. last 20 steps: 1- place sticky notes in the drawer 2- place pink marker in the drawer 3- place green marker in the drawer 4- place yellow marker in the drawer 5- place two pens in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you stock the filing cabinet with the hilighters and notepad Q: immediate next step? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16754810398909656168.mp4"}
+{"uid":"647014577541866550","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13362250077348627223.mp4"}
+{"uid":"4462787913256703284","text":"\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet 9- place that packet on the table 10- close the drawer 11- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table 5- put black pen in the holder 6- put sticky note in the organizer 7- open the drawer 8- pick up the packet 9- place that packet on the table 10- close the drawer 11- pick up the packet Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"17128892326166868696.mp4"}
+{"uid":"1193029901912888037","text":"\u003ctask:success:discrete:True\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"8663684129724894998.mp4"}
+{"uid":"15710542056781710526","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3096132670128858100.mp4"}
+{"uid":"18177135075414810040","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the grapes on the table 3- place the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the apple on the table 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table 6- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7635182959682164997.mp4"}
+{"uid":"10636941638673113088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6658334107849991174.mp4"}
+{"uid":"10460066487017193356","text":"\u003ctask:success:discrete:True\u003e\nput black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"551657848895343693.mp4"}
+{"uid":"13438295636245672484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5468301421799768427.mp4"}
+{"uid":"13806194022044540979","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the holder 2- put sticky note in the organizer 3- open the drawer 4- pick up the packet 5- place that packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using the notepad and pen can you put it back and while coming back can you grab me a popcorn chips from MK Kitchen to my desk. last 20 steps: 1- pick up the black pen 2- pick up the sticky note 3- place black pen sticky note on the table 4- place black pen sticky note on the table Q: immediate next step? \u003cPRED\u003eA: put black pen in the holder\n\u003c/PRED\u003e","video":"13718444256973663940.mp4"}
+{"uid":"2133213004549138481","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place small black object on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place small black object on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: place small black object on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place small black object on table 2- place the sanitizer bottle on the table 3- place the  stapler on the table 4- close the drawer 5- place sanitizer bottle on black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace small black object on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace small black object on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place small black object on table\n\u003c/PRED\u003e","video":"1186585201255148425.mp4"}
+{"uid":"2900651093515686713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8281562150512554963.mp4"}
+{"uid":"10815752131431482204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a black object on the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13101135509130188009.mp4"}
+{"uid":"8024277496452934636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9098606973262788545.mp4"}
+{"uid":"10205846229112110654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4108202897243344375.mp4"}
+{"uid":"11512642215880811001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4069783827034615803.mp4"}
+{"uid":"16957003073415856938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7378838638578734577.mp4"}
+{"uid":"11575988942840442842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"479012625678241696.mp4"}
+{"uid":"9488710658946751176","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: place a plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup Q: immediate next step? \u003cPRED\u003eA: place a plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- place a plastic cup 2- turn on a machine 3- turn of a machine 4- place a plastic glass on a table 5- place a lead on the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7596355050920814340.mp4"}
+{"uid":"16552506816481878159","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a plastic cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass 7- pick up a straw 8- place a straw into the plastic cup 9- pick up a plastic cup Q: immediate next step? \u003cPRED\u003eA: place a plastic cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: place a plastic cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a plastic cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass 7- pick up a straw 8- place a straw into the plastic cup 9- pick up a plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- place a plastic cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a plastic cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a plastic cup on the table\n\u003c/PRED\u003e","video":"16232191890849434474.mp4"}
+{"uid":"10291578119624183102","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the  stapler on the table 2- place sanitizer bottle on black table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the  stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  stapler on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  stapler on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table Q: immediate next step? \u003cPRED\u003eA: place the  stapler on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: place the  stapler on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18175699325179162554.mp4"}
+{"uid":"9403736167789472136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3143880489441564570.mp4"}
+{"uid":"3985432182349192245","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a straw into the plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass 7- pick up a straw Q: immediate next step? \u003cPRED\u003eA: place a straw into the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: place a straw into the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a straw into the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass 7- pick up a straw Q: next 5 steps? \u003cPRED\u003eA: 1- place a straw into the plastic cup 2- pick up a plastic cup 3- place a plastic cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a straw into the plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a straw into the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5450882257107638895.mp4"}
+{"uid":"744970022938508697","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place sanitizer bottle on black table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"984008386283581972.mp4"}
+{"uid":"14029338600055262287","text":"\u003ctask:success:discrete:False\u003e\npick up a plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table\n\u003c/PRED\u003e","video":"9513437098099815043.mp4"}
+{"uid":"12262915559163369761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4053680490781505973.mp4"}
+{"uid":"12132710690789480659","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- push the tray 3- place the sanitizer bottle on the table 4- place the  stapler on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"12541865883381327277.mp4"}
+{"uid":"18316103047854267727","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray 2- place the sanitizer bottle on the table 3- place the  stapler on the table 4- close the drawer 5- place sanitizer bottle on black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10893925949224887324.mp4"}
+{"uid":"17618670309323373821","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup Q: immediate next step? \u003cPRED\u003eA: turn on a machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn on a machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn on a machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn on a machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: turn on a machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn on a machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- turn on a machine 2- turn of a machine 3- place a plastic glass on a table 4- place a lead on the plastic glass 5- pick up a straw\n\u003c/PRED\u003e","video":"7517599972831035225.mp4"}
+{"uid":"13384618097509939361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table 5- place the  stapler on the table 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place sanitizer bottle on black table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table 5- place the  stapler on the table 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: place sanitizer bottle on black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sanitizer bottle on black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sanitizer bottle on black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sanitizer bottle on black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: place sanitizer bottle on black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sanitizer bottle on black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3763013079762640744.mp4"}
+{"uid":"17292317054537086995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11984158322806450902.mp4"}
+{"uid":"387290283226716537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9581013643479118802.mp4"}
+{"uid":"9236875268495693402","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place a lead on the plastic glass 2- pick up a straw 3- place a straw into the plastic cup 4- pick up a plastic cup 5- place a plastic cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table Q: immediate next step? \u003cPRED\u003eA: place a lead on the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: place a lead on the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a lead on the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a lead on the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a lead on the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a lead on the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10954179665514059445.mp4"}
+{"uid":"15934964034663229963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15050886624156827478.mp4"}
+{"uid":"5777888105039663501","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle on the table 2- place the  stapler on the table 3- close the drawer 4- place sanitizer bottle on black table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e","video":"15871513422695385461.mp4"}
+{"uid":"5101387694066254907","text":"\u003ctask:success:discrete:True\u003e\nplace a plastic glass on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a plastic glass on a table\n\u003c/PRED\u003e","video":"13311531730083596132.mp4"}
+{"uid":"13883404802183131983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cups stack inside the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8409355728021051515.mp4"}
+{"uid":"16326426384591177994","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the  stapler on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the  stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13824756115172633441.mp4"}
+{"uid":"9969386781487558174","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a straw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a straw 2- place a straw into the plastic cup 3- pick up a plastic cup 4- place a plastic cup on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass Q: immediate next step? \u003cPRED\u003eA: pick up a straw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a straw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a straw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: pick up a straw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a straw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7233045543537181546.mp4"}
+{"uid":"14584320667657619932","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table 5- place the  stapler on the table 6- close the drawer 7- place sanitizer bottle on black table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet. last 20 steps: 1- open the drawer 2- place small black object on table 3- push the tray 4- place the sanitizer bottle on the table 5- place the  stapler on the table 6- close the drawer 7- place sanitizer bottle on black table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace sanitizer bottle on black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out my stapler, hand sanitizer and badge reel from the filing cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place sanitizer bottle on black table\n\u003c/PRED\u003e","video":"7775304539616839356.mp4"}
+{"uid":"1182818910300806626","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine Q: next 5 steps? \u003cPRED\u003eA: 1- place a plastic glass on a table 2- place a lead on the plastic glass 3- pick up a straw 4- place a straw into the plastic cup 5- pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a plastic glass on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine Q: immediate next step? \u003cPRED\u003eA: place a plastic glass on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: place a plastic glass on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a plastic glass on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a plastic glass on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a plastic glass on a table\n\u003c/PRED\u003e","video":"10752864683876687817.mp4"}
+{"uid":"5202674897283290945","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn of a machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: turn of a machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine Q: next 5 steps? \u003cPRED\u003eA: 1- turn of a machine 2- place a plastic glass on a table 3- place a lead on the plastic glass 4- pick up a straw 5- place a straw into the plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn of a machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn of a machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn of a machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine Q: immediate next step? \u003cPRED\u003eA: turn of a machine\n\u003c/PRED\u003e","video":"8550581181669159234.mp4"}
+{"uid":"10225428584978554308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5493003261786840158.mp4"}
+{"uid":"10454953135144638801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio  in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9885223096087537809.mp4"}
+{"uid":"15724317873655560397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop corn ball in paper packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14742091577403367861.mp4"}
+{"uid":"15202181317170026728","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass 7- pick up a straw 8- place a straw into the plastic cup Q: immediate next step? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring emily some water. last 20 steps: 1- pick up a plastic cup 2- place a plastic cup 3- turn on a machine 4- turn of a machine 5- place a plastic glass on a table 6- place a lead on the plastic glass 7- pick up a straw 8- place a straw into the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a plastic cup 2- place a plastic cup on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring emily some water. Q: immediate next step? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2698935236629208435.mp4"}
+{"uid":"7274190564058367714","text":"\u003ctask:success:discrete:True\u003e\npush the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e","video":"6322213961566573000.mp4"}
+{"uid":"7320919194525063722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6395524046022041453.mp4"}
+{"uid":"2276594919043015816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a spoon in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11906004797659686310.mp4"}
+{"uid":"12676589839072882091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3560618049447825986.mp4"}
+{"uid":"11592561079420908934","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a glass in top third right cabinet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a glass in top third right cabinet 2- pick up the scoop 3- pour pipcorn into the cup 4- put the scoop into the pen holder 5- close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: place a glass in top third right cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a glass in top third right cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a glass in top third right cabinet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a glass in top third right cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a glass in top third right cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3097196155741440070.mp4"}
+{"uid":"15901062157252619642","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- stack the snacks packet on top of the existing stack 3- stack the snacks packet on top of the existing stack 4- stack the snacks packet on top of the existing stack 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12509925460303125521.mp4"}
+{"uid":"982870522701840097","text":"\u003ctask:success:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"145185036418849067.mp4"}
+{"uid":"10985749681208412100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7833502533944621598.mp4"}
+{"uid":"12431592957249430194","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11713999488208301775.mp4"}
+{"uid":"11289042291201261906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2043778518275898057.mp4"}
+{"uid":"9345421947962791384","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table Q: immediate next step? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace snacks packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet on the table 2- place snacks packet on the table 3- stack the snacks packets 4- stack the snacks packets 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"16396069495194716661.mp4"}
+{"uid":"14908725895706114861","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack 10- stack the snacks packet on top of the existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- stack the snacks packet on top of the existing stack 3- stack the snacks packet on top of the existing stack 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack 10- stack the snacks packet on top of the existing stack Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"6713960578479996633.mp4"}
+{"uid":"16242386793329207165","text":"\u003ctask:success:discrete:False\u003e\nput the cup on top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on top\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on top 2- put the cap on cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup Q: immediate next step? \u003cPRED\u003eA: put the cup on top\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on top\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put the cup on top\n\u003c/PRED\u003e","video":"12521113857107984010.mp4"}
+{"uid":"17871881532727640549","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: place a jar cap above the cabinets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright Q: immediate next step? \u003cPRED\u003eA: place a jar cap above the cabinets\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a jar cap above the cabinets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- place a jar cap above the cabinets 2- pour pipcorn into the cup 3- put the scoop into the pen holder 4- close the glass jar with cup 5- put the cup on top\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a jar cap above the cabinets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a jar cap above the cabinets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a jar cap above the cabinets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15394391222600108297.mp4"}
+{"uid":"7587913110462913662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8878996451708472855.mp4"}
+{"uid":"7663493126214407574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12497790319155456214.mp4"}
+{"uid":"16862709282313570029","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- stack the snacks packet on top of the existing stack 3- stack the snacks packet on top of the existing stack 4- stack the snacks packet on top of the existing stack 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"17401213584857700766.mp4"}
+{"uid":"4728792579899527176","text":"\u003ctask:success:discrete:True\u003e\nput the cup on top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup on top\n\u003c/PRED\u003e","video":"4981094354184824532.mp4"}
+{"uid":"6757316940720429449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the snacks packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"264365109012037456.mp4"}
+{"uid":"6962585368987964327","text":"\u003ctask:success:discrete:False\u003e\npick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cap of glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scoop 2- pour pipcorn into the cup 3- put the scoop into the pen holder 4- close the glass jar with cup 5- put the cup on top\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cap of glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1144063225747060325.mp4"}
+{"uid":"11049879061412022200","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- drop the popcorn in the glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the popcorn in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3440597522214786920.mp4"}
+{"uid":"4241089501236248729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14849263016637616545.mp4"}
+{"uid":"9545511256181453030","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in black glass 2- put the cup on top 3- put the cap on cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in black glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: place a spoon in black glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup Q: immediate next step? \u003cPRED\u003eA: place a spoon in black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a spoon in black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in black glass\n\u003c/PRED\u003e","video":"1653806769497300027.mp4"}
+{"uid":"6207878964399119051","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10788886636644445957.mp4"}
+{"uid":"14303855675484413926","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: close the popcorn glass by a plastic cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the popcorn glass by a plastic cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top Q: next 5 steps? \u003cPRED\u003eA: 1- close the popcorn glass by a plastic cap 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the popcorn glass by a plastic cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top Q: immediate next step? \u003cPRED\u003eA: close the popcorn glass by a plastic cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the popcorn glass by a plastic cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the popcorn glass by a plastic cap\n\u003c/PRED\u003e","video":"17848232622855435480.mp4"}
+{"uid":"8293677423571830557","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass in the self\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass in the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7383607492230592761.mp4"}
+{"uid":"5426225108151518467","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put popcorn in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4567038567456940413.mp4"}
+{"uid":"5189851355258246252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10053399786397341223.mp4"}
+{"uid":"16045775277000538334","text":"\u003ctask:success:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"10050221419130284804.mp4"}
+{"uid":"13499522580082653867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lead on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"377401484497046537.mp4"}
+{"uid":"12694196734058056143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16084827821906190629.mp4"}
+{"uid":"5824083762783049556","text":"\u003ctask:success:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"1067582827549441030.mp4"}
+{"uid":"10365048171782583424","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17042825744154806552.mp4"}
+{"uid":"4317550098764259683","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour pipcorn into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour pipcorn into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour pipcorn into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour pipcorn into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour pipcorn into the cup 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour pipcorn into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour pipcorn into the cup\n\u003c/PRED\u003e","video":"11198325171306598818.mp4"}
+{"uid":"1203435224023716773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12136639434903838215.mp4"}
+{"uid":"1269672363147222363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7930951338138445007.mp4"}
+{"uid":"457516038441290475","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the popcorn box cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright Q: immediate next step? \u003cPRED\u003eA: open the popcorn box cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the popcorn box cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the popcorn box cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- open the popcorn box cap 2- pick up the scoop 3- pour pipcorn into the cup 4- put the scoop into the pen holder 5- close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: open the popcorn box cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the popcorn box cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17500753087482736406.mp4"}
+{"uid":"342100785003645116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8332251921084360213.mp4"}
+{"uid":"10526157445168007272","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the popcorn in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- drop the popcorn in the glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15553416339990840166.mp4"}
+{"uid":"6470052944551109520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7561582130562961226.mp4"}
+{"uid":"13497681247022930097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9548237763079389147.mp4"}
+{"uid":"5654955312094874269","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13467540902536233002.mp4"}
+{"uid":"7481040867058869499","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cap of glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: open the cap of glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- open the cap of glass jar 2- pick up the scoop 3- pour pipcorn into the cup 4- put the scoop into the pen holder 5- close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright Q: immediate next step? \u003cPRED\u003eA: open the cap of glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cap of glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cap of glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cap of glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18276448949787993088.mp4"}
+{"uid":"12826435698005691898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake out the larger clip from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17329749318967405585.mp4"}
+{"uid":"6308770214359448592","text":"\u003ctask:success:discrete:True\u003e\ndrop the popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e","video":"18336696538462404739.mp4"}
+{"uid":"5903121975949819546","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the glass jar with cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9759908800959715631.mp4"}
+{"uid":"9629102916505157425","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table Q: immediate next step? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet on the table 2- stack the snacks packets 3- stack the snacks packets 4- stack the snacks packet on top of the existing stack 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"4946004305931985320.mp4"}
+{"uid":"17927277586074891027","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chair back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chair back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to work from my desk, please take my phone to my desk and pull my desk chair out for me please. last 20 steps: 1- place mobile on table Q: immediate next step? \u003cPRED\u003eA: Put the chair back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace mobile on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chair back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to work from my desk, please take my phone to my desk and pull my desk chair out for me please Q: immediate next step? \u003cPRED\u003eA: Put the chair back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chair back\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the phone on the table in next room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to work from my desk, please take my phone to my desk and pull my desk chair out for me please. last 20 steps: 1- place mobile on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chair back 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the phone on the table in next room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place mobile on table\n\u003c/PRED\u003e","video":"13670881413594629656.mp4"}
+{"uid":"3655959499597199259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5080718459674676604.mp4"}
+{"uid":"14563156276052239566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7447887218392961620.mp4"}
+{"uid":"3530460194189409039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoon in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6826560570885846223.mp4"}
+{"uid":"11095765326974239092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a green tea  in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10628394654136615104.mp4"}
+{"uid":"4352605934348842925","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack 10- stack the snacks packet on top of the existing stack 11- stack the snacks packet on top of the existing stack 12- stack the snacks packet on top of the existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack 10- stack the snacks packet on top of the existing stack 11- stack the snacks packet on top of the existing stack 12- stack the snacks packet on top of the existing stack Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"8460199628891498813.mp4"}
+{"uid":"16289075688983647118","text":"\u003ctask:success:discrete:True\u003e\npour pipcorn into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour pipcorn into the cup\n\u003c/PRED\u003e","video":"15059298865534508164.mp4"}
+{"uid":"742327053239000262","text":"\u003ctask:success:discrete:True\u003e\nclose a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close a jar\n\u003c/PRED\u003e","video":"12324061723260934802.mp4"}
+{"uid":"13173740335736900318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace block on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11422473364212415967.mp4"}
+{"uid":"10714293895922282299","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: drop popcorn in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop popcorn in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: drop popcorn in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- drop popcorn in the glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop popcorn in the glass\n\u003c/PRED\u003e","video":"3634717712085531834.mp4"}
+{"uid":"5665113765531301526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9557302722930892754.mp4"}
+{"uid":"16306998678091686170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow candy in left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8121746928462673186.mp4"}
+{"uid":"12030242408773691694","text":"\u003ctask:success:discrete:True\u003e\npour a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e","video":"2784116667962654256.mp4"}
+{"uid":"8106202050396826817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14222024905581154184.mp4"}
+{"uid":"568966357683862681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4719657868901011247.mp4"}
+{"uid":"11397317662992970995","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- drop the popcorn in the glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the popcorn in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3621953262941257120.mp4"}
+{"uid":"14106110494533015369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet inside the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11454389902023271691.mp4"}
+{"uid":"12502700481671614366","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets Q: immediate next step? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packets 2- stack the snacks packet on top of the existing stack 3- stack the snacks packet on top of the existing stack 4- stack the snacks packet on top of the existing stack 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e","video":"5709746744358262049.mp4"}
+{"uid":"8161421398892785422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink packet in glass container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5375820472722599669.mp4"}
+{"uid":"11573310188153772404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"113510215208283967.mp4"}
+{"uid":"3086701734869792907","text":"\u003ctask:success:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"2201417674139423117.mp4"}
+{"uid":"965898469438082161","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13155332639122611980.mp4"}
+{"uid":"6855898062842969706","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- stack the snacks packet on top of the existing stack 3- stack the snacks packet on top of the existing stack 4- stack the snacks packet on top of the existing stack 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"9948593166439082522.mp4"}
+{"uid":"2137278300881085642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7730401188045075272.mp4"}
+{"uid":"2011097833188239675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4708270700584509570.mp4"}
+{"uid":"3127389448704961481","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack 10- stack the snacks packet on top of the existing stack 11- stack the snacks packet on top of the existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- stack the snacks packet on top of the existing stack 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack 9- stack the snacks packet on top of the existing stack 10- stack the snacks packet on top of the existing stack 11- stack the snacks packet on top of the existing stack Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"5505766082532226123.mp4"}
+{"uid":"15850726008736053508","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e","video":"6458573528582216426.mp4"}
+{"uid":"12300318291107366859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11314382344848332364.mp4"}
+{"uid":"3342163580617390704","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15152873424625908711.mp4"}
+{"uid":"16829502717417105887","text":"\u003ctask:success:discrete:True\u003e\nopen the popcorn box cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the popcorn box cap\n\u003c/PRED\u003e","video":"4915691500449796696.mp4"}
+{"uid":"6873856713516881083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10677050356977822469.mp4"}
+{"uid":"17772310728555876232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the popcorn in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- drop the popcorn in the glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16797752352255265175.mp4"}
+{"uid":"171986945921392988","text":"\u003ctask:success:discrete:True\u003e\nput the cap on glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cap on glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top 8- put the cap on glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top 8- put the cap on glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4796508508855510618.mp4"}
+{"uid":"13988546241525335283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the scrub packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11447393775376102210.mp4"}
+{"uid":"9549922774725875815","text":"\u003ctask:success:discrete:True\u003e\nclose the popcorn glass by a plastic cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the popcorn glass by a plastic cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top 8- close the popcorn glass by a plastic cap Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top 8- close the popcorn glass by a plastic cap Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13647637361795338217.mp4"}
+{"uid":"15141324246136659771","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- stack the snacks packet on top of the existing stack 3- stack the snacks packet on top of the existing stack 4- stack the snacks packet on top of the existing stack 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the snacks packet on top of the existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13486224742574134566.mp4"}
+{"uid":"948950014185403194","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"783181571338581888.mp4"}
+{"uid":"12487419553308384086","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- place a popcorn glass on roof of cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- place a popcorn glass on roof of cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a popcorn glass on roof of cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a popcorn glass on roof of cabinet\n\u003c/PRED\u003e","video":"18441635270601047340.mp4"}
+{"uid":"14188097296307909178","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder\n\u003c/PRED\u003e","video":"1184451732375517369.mp4"}
+{"uid":"18369219826411181710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18272785684082183057.mp4"}
+{"uid":"4981390832641053950","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the snacks packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8638746514995232349.mp4"}
+{"uid":"13113330386552781832","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packets 2- stack the snacks packets 3- stack the snacks packet on top of the existing stack 4- stack the snacks packet on top of the existing stack 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the snacks packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table Q: immediate next step? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packets\n\u003c/PRED\u003e","video":"3666578931244579446.mp4"}
+{"uid":"9265102754462595926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the orange bowl forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6032106709587361537.mp4"}
+{"uid":"832271915002723650","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove blue pen to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3985569050876118365.mp4"}
+{"uid":"8050002782405461522","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cap on glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cap on glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cap on glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top Q: immediate next step? \u003cPRED\u003eA: put the cap on glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top Q: next 5 steps? \u003cPRED\u003eA: 1- put the cap on glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put the cap on glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cap on glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5139553518979048294.mp4"}
+{"uid":"4718129545664338472","text":"\u003ctask:success:discrete:True\u003e\npour a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e","video":"432484539322870471.mp4"}
+{"uid":"16135960495001326202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2818964809505953454.mp4"}
+{"uid":"13076808483636377185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the right most strainer into the right fifth white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12094845582878182170.mp4"}
+{"uid":"1573288285269434621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green bag from the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3188011563281835588.mp4"}
+{"uid":"12133492279781690450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"811795520967202671.mp4"}
+{"uid":"7483867020606156117","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10477724739364738198.mp4"}
+{"uid":"880649655110667359","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e","video":"12110611186822712350.mp4"}
+{"uid":"11514513017113685287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7423714113233250782.mp4"}
+{"uid":"6901521913938015772","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e","video":"3732059117935299822.mp4"}
+{"uid":"7439280150326646975","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top Q: immediate next step? \u003cPRED\u003eA: put the cap on cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cap on cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cap on cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put the cap on cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top Q: next 5 steps? \u003cPRED\u003eA: 1- put the cap on cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cap on cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12510608513619505249.mp4"}
+{"uid":"8029090377145634028","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the glass above the self Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass above the self\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the glass above the self Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass above the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1235190428689356369.mp4"}
+{"uid":"13991801035770438704","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place snacks packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace snacks packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8812906623821481335.mp4"}
+{"uid":"16457737050966051516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17944354420864610062.mp4"}
+{"uid":"3509717243294938694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3755895202100862693.mp4"}
+{"uid":"14050755001033402287","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass above the self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass above the self 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup Q: immediate next step? \u003cPRED\u003eA: put the glass above the self\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass above the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass above the self\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass above the self\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put the glass above the self\n\u003c/PRED\u003e","video":"8224050259740484616.mp4"}
+{"uid":"2405791751581016174","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: put a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- put a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put a spoon popcorn in glass\n\u003c/PRED\u003e","video":"7937379311534478540.mp4"}
+{"uid":"581920943725189436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3202448709112847522.mp4"}
+{"uid":"857986165170944731","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the snacks packet on top of the existing stack 2- stack the snacks packet on top of the existing stack 3- stack the snacks packet on top of the existing stack 4- stack the snacks packet on top of the existing stack 5- stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove seaweed snacks from the basket. last 20 steps: 1- place snacks packet on the table 2- place snacks packet on the table 3- place snacks packet on the table 4- stack the snacks packets 5- stack the snacks packets 6- stack the snacks packet on top of the existing stack 7- stack the snacks packet on top of the existing stack 8- stack the snacks packet on top of the existing stack Q: immediate next step? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the snacks packet on top of the existing stack\n\u003c/PRED\u003e","video":"18081164380302893840.mp4"}
+{"uid":"13975710040301068272","text":"\u003ctask:success:discrete:True\u003e\nplace a jar cap above the cabinets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a jar cap above the cabinets\n\u003c/PRED\u003e","video":"4404227849491035105.mp4"}
+{"uid":"2500036214175515769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6784801684921785398.mp4"}
+{"uid":"14917351887118383296","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup Q: immediate next step? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scoop into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scoop into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the scoop into the pen holder 2- close the glass jar with cup 3- put the cup on top 4- put the cap on cup 5- done\n\u003c/PRED\u003e","video":"10678758558742886588.mp4"}
+{"uid":"17551591531935739404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18353423410937600647.mp4"}
+{"uid":"1851446372370417002","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e","video":"12448567330070674528.mp4"}
+{"uid":"2256952413201379997","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a glass in top third right cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a glass in top third right cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18362743171408861825.mp4"}
+{"uid":"341882927145957587","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the popcorn in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7946556775015751817.mp4"}
+{"uid":"16437730406361359725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8985168725046807137.mp4"}
+{"uid":"16910221048495328367","text":"\u003ctask:success:discrete:False\u003e\npour a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e","video":"4264224839788335358.mp4"}
+{"uid":"14140887250038917397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5537107447420816271.mp4"}
+{"uid":"18425722113447473095","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top 8- put the cap on cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cap on cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup 7- put the cup on top 8- put the cap on cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cap on cup\n\u003c/PRED\u003e","video":"18366525119258183130.mp4"}
+{"uid":"15466187355280417890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKeep the brown packets in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9682565795075463417.mp4"}
+{"uid":"12754645011900676514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6442407947462159802.mp4"}
+{"uid":"8919115510478639156","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: close a jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose a jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder Q: immediate next step? \u003cPRED\u003eA: close a jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close a jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close a jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- close a jar 2- put the cap on cup 3- done\n\u003c/PRED\u003e","video":"10959644624183037913.mp4"}
+{"uid":"1653980322343399935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14557306164651786609.mp4"}
+{"uid":"14806713979516846269","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass in the self 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass in the self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass in the self\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass in the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the glass in the self\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put the glass in the self\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass in the self\n\u003c/PRED\u003e","video":"2642562620429686966.mp4"}
+{"uid":"9986241456521811830","text":"\u003ctask:success:discrete:False\u003e\nPut the phone on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to work from my desk, please take my phone to my desk and pull my desk chair out for me please Q: immediate next step? \u003cPRED\u003eA: Put the phone on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the phone on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the phone on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the phone on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to work from my desk, please take my phone to my desk and pull my desk chair out for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the phone on the table 2- Put the chair back 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to work from my desk, please take my phone to my desk and pull my desk chair out for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the phone on the table\n\u003c/PRED\u003e","video":"14804046080603211852.mp4"}
+{"uid":"4029944211512410654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16984627620634613152.mp4"}
+{"uid":"18220893809366072576","text":"\u003ctask:success:discrete:True\u003e\nPut the phone on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the phone on the table\n\u003c/PRED\u003e","video":"2665079559001096550.mp4"}
+{"uid":"16967471191662719190","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: put popcorn in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn in the glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: put popcorn in the glass\n\u003c/PRED\u003e","video":"11570060613746762163.mp4"}
+{"uid":"5823588612848510825","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: place a popcorn glass on roof of cabinet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a popcorn glass on roof of cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a popcorn glass on roof of cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a popcorn glass on roof of cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a popcorn glass on roof of cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup Q: immediate next step? \u003cPRED\u003eA: place a popcorn glass on roof of cabinet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder 6- close the glass jar with cup Q: next 5 steps? \u003cPRED\u003eA: 1- place a popcorn glass on roof of cabinet 2- done\n\u003c/PRED\u003e","video":"15468102055891236232.mp4"}
+{"uid":"2957111192831546108","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16814905745270399046.mp4"}
+{"uid":"13101867270991205665","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the glass jar with cup 2- put the cup on top 3- put the cap on cup 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the glass jar with cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop 4- pour pipcorn into the cup 5- put the scoop into the pen holder Q: immediate next step? \u003cPRED\u003eA: close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the glass jar with cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the glass jar with cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17452244048545501570.mp4"}
+{"uid":"2765884981588456191","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: pour a  spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour a  spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. Q: immediate next step? \u003cPRED\u003eA: pour a  spoon popcorn in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Scoop me a snack from the MK and secure the cup with a lid. last 20 steps: 1- place the cup upright 2- open the popcorn box cap 3- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- pour a  spoon popcorn in glass 2- put the scoop into the pen holder 3- close the glass jar with cup 4- put the cup on top 5- put the cap on cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour a  spoon popcorn in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour a  spoon popcorn in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour a  spoon popcorn in glass\n\u003c/PRED\u003e","video":"11150825138472442012.mp4"}
+{"uid":"7743086306664532421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue battery Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4125694768990791718.mp4"}
+{"uid":"12980691653463201929","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chili lemon pistachios in the bowl 2- drop pistachio into cup 3- drop cereal scoop into stand 4- place lid on jar 5- Place the holder near the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chili lemon pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chili lemon pistachios in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16079258862236351298.mp4"}
+{"uid":"16063758673078461391","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cereal scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cereal scoop 2- drop almond into cup 3- drop almond into cup 4- drop cereal scoop into stand 5- Place the hole near the almond jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cereal scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e","video":"17877824054735167242.mp4"}
+{"uid":"7573660764142113218","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"882782386207699943.mp4"}
+{"uid":"1480498683063568408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the royal gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18212304499628114731.mp4"}
+{"uid":"13431471390838150069","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop almond into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3848767945375903653.mp4"}
+{"uid":"4699177146654618751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"128492124919285420.mp4"}
+{"uid":"13241664546568560678","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl near the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl near the chili lemon pistachio jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl near the chili lemon pistachio jar 2- place jar lid on table 3- pick up cereal scoop 4- drop pistachio into cup 5- drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the bowl near the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl near the chili lemon pistachio jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl near the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid Q: immediate next step? \u003cPRED\u003eA: Put the bowl near the chili lemon pistachio jar\n\u003c/PRED\u003e","video":"15576686566134858828.mp4"}
+{"uid":"5649178597060700300","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- pick up cereal scoop 2- drop almond into cup 3- drop almond into cup 4- drop cereal scoop into stand 5- Place the hole near the almond jar 6- close the lid 7- place cup on table 8- place jar lid on table 9- pick up cereal scoop 10- drop pistachio into cup 11- drop pistachio into cup 12- drop cereal scoop into stand 13- place lid on jar 14- Place the holder near the chili lemon pistachio jar 15- place cup on table 16- place jar lid on table 17- pick the tong 18- drop chips into cup 19- drop tong into table 20- place lid on jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace lid on jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- pick up cereal scoop 2- drop almond into cup 3- drop almond into cup 4- drop cereal scoop into stand 5- Place the hole near the almond jar 6- close the lid 7- place cup on table 8- place jar lid on table 9- pick up cereal scoop 10- drop pistachio into cup 11- drop pistachio into cup 12- drop cereal scoop into stand 13- place lid on jar 14- Place the holder near the chili lemon pistachio jar 15- place cup on table 16- place jar lid on table 17- pick the tong 18- drop chips into cup 19- drop tong into table 20- place lid on jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2558987171443420452.mp4"}
+{"uid":"17308904500464303141","text":"\u003ctask:success:discrete:True\u003e\nplace cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e","video":"5681947398761288300.mp4"}
+{"uid":"9883745032133457052","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: immediate next step? \u003cPRED\u003eA: pick the tong\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tong 2- drop tong into table 3- place lid on jar 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tong\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tong Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tong Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: pick the tong\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tong\n\u003c/PRED\u003e","video":"11106112416576633197.mp4"}
+{"uid":"14110867881734388016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup in front of the chips jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the paper cup in front of the chips jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17191248766335549362.mp4"}
+{"uid":"11416591434381152014","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the cereal scoop in the holder 2- place lid on jar 3- Place the holder near the chili lemon pistachio jar 4- place cup on table 5- place jar lid on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup Q: immediate next step? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cereal scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cereal scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e","video":"5985009790999808109.mp4"}
+{"uid":"1999564353863383487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11861048056220505724.mp4"}
+{"uid":"16172252103744525085","text":"\u003ctask:success:discrete:True\u003e\nPut the mango piece in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the mango piece in the bowl\n\u003c/PRED\u003e","video":"18281868356700981658.mp4"}
+{"uid":"4752371731556190844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12074359861395052123.mp4"}
+{"uid":"11690468624339714440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabetic tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17591170481240694050.mp4"}
+{"uid":"15201087919240048590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16731075018254032329.mp4"}
+{"uid":"12939922158111339504","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar Q: immediate next step? \u003cPRED\u003eA: Close the almond jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar Q: next 5 steps? \u003cPRED\u003eA: 1- Close the almond jar 2- place cup on table 3- place jar lid on table 4- pick up cereal scoop 5- drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the almond jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Close the almond jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the almond jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the almond jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the almond jar\n\u003c/PRED\u003e","video":"15981734394965868828.mp4"}
+{"uid":"9673976230139383559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15709419283252290523.mp4"}
+{"uid":"993347985559834088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace lemonade plastic bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14103895394811332835.mp4"}
+{"uid":"18322638864379326895","text":"\u003ctask:success:discrete:True\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e","video":"11493768688170184128.mp4"}
+{"uid":"13368069939255923475","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup into the drawer 2- put the cup into the drawer 3- place the cup into the drawer 4- put the cup into the drawer 5- close the first drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1167747643957120355.mp4"}
+{"uid":"17322669006770153496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8492301315332343311.mp4"}
+{"uid":"8603021635877710299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut oreo into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15175402448824402400.mp4"}
+{"uid":"10041051436844446846","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong 20- drop chips into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop tong into table 2- place lid on jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop chips into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong 20- drop chips into cup Q: immediate next step? \u003cPRED\u003eA: drop tong into table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop tong into table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop tong into table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop tong into table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop chips into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop tong into table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop tong into table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8812660783964011699.mp4"}
+{"uid":"11527419935933956144","text":"\u003ctask:success:discrete:True\u003e\ndrop pistachio into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e","video":"3450922542099944722.mp4"}
+{"uid":"8331705827295410058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5620469969436001360.mp4"}
+{"uid":"9757244650985065487","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl upright on the table 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11835513625824745306.mp4"}
+{"uid":"12392913188400681334","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- place cup on table 3- place jar lid on table 4- pick up cereal scoop 5- drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e","video":"3250607152604286669.mp4"}
+{"uid":"12149588816103608361","text":"\u003ctask:success:discrete:False\u003e\nPut the scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scoop in the holder 2- place lid on jar 3- Place the holder near the chili lemon pistachio jar 4- place cup on table 5- place jar lid on table\n\u003c/PRED\u003e","video":"3869088517616131531.mp4"}
+{"uid":"9694901556034329779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15522770922197163801.mp4"}
+{"uid":"17442978162887232350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"104657453253134579.mp4"}
+{"uid":"10289794056810291411","text":"\u003ctask:success:discrete:False\u003e\nPut the almonds in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the almonds in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the almonds in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup Q: immediate next step? \u003cPRED\u003eA: Put the almonds in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the almonds in the jar 2- drop cereal scoop into stand 3- Place the hole near the almond jar 4- close the lid 5- place cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the almonds in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the almonds in the jar\n\u003c/PRED\u003e","video":"14225067329940896606.mp4"}
+{"uid":"13053495048574003164","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the mango piece in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the mango piece in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the mango piece in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: Put the mango piece in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the mango piece in the bowl 2- drop tong into table 3- place lid on jar 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the mango piece in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the mango piece in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6139992734870224829.mp4"}
+{"uid":"11663851460293589630","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong 20- drop chips into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tongs in the holder 2- place lid on jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tongs in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong 20- drop chips into cup Q: immediate next step? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tongs in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e","video":"16236694240342217033.mp4"}
+{"uid":"17098742112894060765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9496721676270213188.mp4"}
+{"uid":"5980827473972202452","text":"\u003ctask:success:discrete:False\u003e\nplace the paper cup in front of the chips jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup in front of the chips jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup in front of the chips jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup in front of the chips jar 2- pick the tong 3- drop chips into cup 4- drop tong into table 5- place lid on jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place the paper cup in front of the chips jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar Q: immediate next step? \u003cPRED\u003eA: place the paper cup in front of the chips jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup in front of the chips jar\n\u003c/PRED\u003e","video":"14644189047405628767.mp4"}
+{"uid":"17043979882394894947","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup into the drawer 2- put the cup into the drawer 3- close the first drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e","video":"13133758277996389080.mp4"}
+{"uid":"7569951378002574733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1011969441285023007.mp4"}
+{"uid":"11818379753204688334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the coffee cups to the top of the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7185565225588960707.mp4"}
+{"uid":"10965045660232715330","text":"\u003ctask:success:discrete:False\u003e\nput the Pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: put the Pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the Pistachio into the cup 2- drop cereal scoop into stand 3- place lid on jar 4- Place the holder near the chili lemon pistachio jar 5- place cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the Pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: put the Pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the Pistachio into the cup\n\u003c/PRED\u003e","video":"13557586010743143519.mp4"}
+{"uid":"7666920911076552653","text":"\u003ctask:success:discrete:True\u003e\nput the almonds in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the almonds in the paper cup\n\u003c/PRED\u003e","video":"7120124542563802886.mp4"}
+{"uid":"6888538954460823861","text":"\u003ctask:success:discrete:True\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e","video":"14912906366949519863.mp4"}
+{"uid":"573441960853638454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white chocolate ball in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12491503180331570810.mp4"}
+{"uid":"1956212797622142100","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the almond jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the almond jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Open the almond jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top Q: next 5 steps? \u003cPRED\u003eA: 1- Open the almond jar 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the almond jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top Q: immediate next step? \u003cPRED\u003eA: Open the almond jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the almond jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2129733019188303663.mp4"}
+{"uid":"11633858992187770944","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- pick the tong 3- drop chips into cup 4- drop tong into table 5- place lid on jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2734478311457343305.mp4"}
+{"uid":"1402317719477877467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3348310753739922530.mp4"}
+{"uid":"3925422905613959063","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar Q: immediate next step? \u003cPRED\u003eA: Put the bowl near the mango jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl near the mango jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl near the mango jar 2- place jar lid on table 3- pick the tong 4- drop chips into cup 5- drop tong into table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl near the mango jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl near the mango jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl near the mango jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the bowl near the mango jar\n\u003c/PRED\u003e","video":"1363485900207565173.mp4"}
+{"uid":"15587063291868574091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15854438968477217127.mp4"}
+{"uid":"10653879007542639123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black object on the connector Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10116301324103747637.mp4"}
+{"uid":"3637036558366718814","text":"\u003ctask:success:discrete:False\u003e\nplace the cereal scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup Q: immediate next step? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cereal scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the cereal scoop in the holder 2- Place the hole near the almond jar 3- close the lid 4- place cup on table 5- place jar lid on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e","video":"3695484915011041929.mp4"}
+{"uid":"17948300493770932296","text":"\u003ctask:success:discrete:False\u003e\ndrop pistachio into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pistachio into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop Q: immediate next step? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop Q: next 5 steps? \u003cPRED\u003eA: 1- drop pistachio into cup 2- drop pistachio into cup 3- drop cereal scoop into stand 4- place lid on jar 5- Place the holder near the chili lemon pistachio jar\n\u003c/PRED\u003e","video":"14332392851754655455.mp4"}
+{"uid":"8158575644787999634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the bottom indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7237119756237493869.mp4"}
+{"uid":"12219799488645200516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tweezers in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3813666240449506284.mp4"}
+{"uid":"17021158373297286967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4273538956580053555.mp4"}
+{"uid":"2110005922773249646","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace lid on jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6985859144923719284.mp4"}
+{"uid":"3560261958645330424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pea on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1359281889681462669.mp4"}
+{"uid":"15543231902048763598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5200160126558688905.mp4"}
+{"uid":"5756202201063153559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12242792787380802338.mp4"}
+{"uid":"4380538010386282392","text":"\u003ctask:success:discrete:False\u003e\nput the chips in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chips in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong Q: immediate next step? \u003cPRED\u003eA: put the chips in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: put the chips in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong Q: next 5 steps? \u003cPRED\u003eA: 1- put the chips in the paper cup 2- drop tong into table 3- place lid on jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chips in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chips in the paper cup\n\u003c/PRED\u003e","video":"17140738470646983676.mp4"}
+{"uid":"16655164145557333854","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up cereal scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cereal scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up cereal scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cereal scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cereal scoop 2- drop pistachio into cup 3- drop pistachio into cup 4- drop cereal scoop into stand 5- place lid on jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up cereal scoop 2- drop pistachio into cup 3- drop pistachio into cup 4- drop cereal scoop into stand 5- place lid on jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cereal scoop\n\u003c/PRED\u003e","video":"4791879981208486875.mp4"}
+{"uid":"4495528257526635252","text":"\u003ctask:success:discrete:True\u003e\nplace the cereal scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cereal scoop in the holder\n\u003c/PRED\u003e","video":"12514779827326592419.mp4"}
+{"uid":"17768950121207947171","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4537854000071440508.mp4"}
+{"uid":"7210420138751309580","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white object into the transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1321599706875999611.mp4"}
+{"uid":"14862393681025038220","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the mango jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place jar lid on table 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand 6- Place the hole near the almond jar 7- close the lid 8- place cup on table 9- place jar lid on table 10- pick up cereal scoop 11- drop pistachio into cup 12- drop pistachio into cup 13- drop cereal scoop into stand 14- place lid on jar 15- Place the holder near the chili lemon pistachio jar 16- place cup on table 17- place jar lid on table 18- pick the tong 19- drop chips into cup 20- drop tong into table Q: immediate next step? \u003cPRED\u003eA: Close the mango jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the mango jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the mango jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Close the mango jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the mango jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place jar lid on table 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand 6- Place the hole near the almond jar 7- close the lid 8- place cup on table 9- place jar lid on table 10- pick up cereal scoop 11- drop pistachio into cup 12- drop pistachio into cup 13- drop cereal scoop into stand 14- place lid on jar 15- Place the holder near the chili lemon pistachio jar 16- place cup on table 17- place jar lid on table 18- pick the tong 19- drop chips into cup 20- drop tong into table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the mango jar 2- done\n\u003c/PRED\u003e","video":"1428910694559567022.mp4"}
+{"uid":"7067793746728702673","text":"\u003ctask:success:discrete:True\u003e\nPut the almonds in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the almonds in the bowl\n\u003c/PRED\u003e","video":"6330017385068728249.mp4"}
+{"uid":"11111667057557335115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5641243099946244355.mp4"}
+{"uid":"3187570715695759752","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand Q: next 5 steps? \u003cPRED\u003eA: 1- place lid on jar 2- Place the holder near the chili lemon pistachio jar 3- place cup on table 4- place jar lid on table 5- pick the tong\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace lid on jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace lid on jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand Q: immediate next step? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e","video":"1006255548238860732.mp4"}
+{"uid":"986852457260518637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15640412297615205317.mp4"}
+{"uid":"3348321805182072960","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place cup on table 2- place jar lid on table 3- pick up cereal scoop 4- drop pistachio into cup 5- drop pistachio into cup\n\u003c/PRED\u003e","video":"7603340485389652277.mp4"}
+{"uid":"11552488799791584215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5693706673821110135.mp4"}
+{"uid":"1474844662147647784","text":"\u003ctask:success:discrete:True\u003e\nPut the chili lemon pistachios in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e","video":"16298773009257274285.mp4"}
+{"uid":"4815585908500715579","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scoop in the holder 2- Place the hole near the almond jar 3- close the lid 4- place cup on table 5- place jar lid on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e","video":"9925347181693062957.mp4"}
+{"uid":"15528522966774040664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6271244529792107565.mp4"}
+{"uid":"15495155052420296058","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chili lemon pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup Q: immediate next step? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chili lemon pistachios in the bowl 2- drop cereal scoop into stand 3- place lid on jar 4- Place the holder near the chili lemon pistachio jar 5- place cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e","video":"2820783139086064145.mp4"}
+{"uid":"13527894277335200496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3133145284994251450.mp4"}
+{"uid":"5863914249007589364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15563401524132054733.mp4"}
+{"uid":"1934614836601377665","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: put the almonds in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the almonds in the paper cup 2- Place the hole near the almond jar 3- close the lid 4- place cup on table 5- place jar lid on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: put the almonds in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the almonds in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the almonds in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the almonds in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the almonds in the paper cup\n\u003c/PRED\u003e","video":"12641628983900179677.mp4"}
+{"uid":"7166114911631209164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13263653324273950850.mp4"}
+{"uid":"4609901555761725089","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the chili lemon pistachio jar forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the chili lemon pistachio jar forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the chili lemon pistachio jar forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Place the chili lemon pistachio jar forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the chili lemon pistachio jar forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the chili lemon pistachio jar forward 2- pick up cereal scoop 3- drop pistachio into cup 4- drop pistachio into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: immediate next step? \u003cPRED\u003eA: Place the chili lemon pistachio jar forward\n\u003c/PRED\u003e","video":"6919857768922005555.mp4"}
+{"uid":"10036794003779084005","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Put the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the almonds in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the almonds in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the almonds in the bowl 2- drop almond into cup 3- drop cereal scoop into stand 4- Place the hole near the almond jar 5- close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: Put the almonds in the bowl\n\u003c/PRED\u003e","video":"5450997869958647562.mp4"}
+{"uid":"15769576389773388620","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chili lemon pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chili lemon pistachios in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"541147524588411325.mp4"}
+{"uid":"9058713224668672371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5265433692237441213.mp4"}
+{"uid":"9980007620389497311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bean into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18113174515433798698.mp4"}
+{"uid":"13917609540441501672","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place cup on table 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8933325799395769561.mp4"}
+{"uid":"406342927273281068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace popcorn bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15953878555218253074.mp4"}
+{"uid":"9218583033818345773","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup in front of the  pistachio jar 2- pick up cereal scoop 3- drop pistachio into cup 4- drop pistachio into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place the paper cup in front of the  pistachio jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup in front of the  pistachio jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup in front of the  pistachio jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid Q: immediate next step? \u003cPRED\u003eA: place the paper cup in front of the  pistachio jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup in front of the  pistachio jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup in front of the  pistachio jar\n\u003c/PRED\u003e","video":"4206559272340345302.mp4"}
+{"uid":"6693967835779954914","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand Q: immediate next step? \u003cPRED\u003eA: Close the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the chili lemon pistachio jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Close the chili lemon pistachio jar 2- Place the holder near the chili lemon pistachio jar 3- place cup on table 4- place jar lid on table 5- pick the tong\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Close the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the chili lemon pistachio jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7096828495230899846.mp4"}
+{"uid":"12774595580396944640","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: immediate next step? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- place jar lid on table 2- pick up cereal scoop 3- drop pistachio into cup 4- drop pistachio into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace jar lid on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"439593644175008819.mp4"}
+{"uid":"7097025124400867379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14809804547394849501.mp4"}
+{"uid":"10550818309305202687","text":"\u003ctask:success:discrete:False\u003e\nPlace the holder near the chili lemon pistachio jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the holder near the chili lemon pistachio jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the holder near the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar Q: immediate next step? \u003cPRED\u003eA: Place the holder near the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the holder near the chili lemon pistachio jar 2- place cup on table 3- place jar lid on table 4- pick the tong 5- drop chips into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the holder near the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Place the holder near the chili lemon pistachio jar\n\u003c/PRED\u003e","video":"15657200741319969832.mp4"}
+{"uid":"7804698585505432172","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pistachio into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup Q: immediate next step? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop pistachio into cup 2- drop cereal scoop into stand 3- place lid on jar 4- Place the holder near the chili lemon pistachio jar 5- place cup on table\n\u003c/PRED\u003e","video":"11925033748648967602.mp4"}
+{"uid":"5844384774087796971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5079340408204590453.mp4"}
+{"uid":"6066681345999130034","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place jar lid on table 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand 6- Place the hole near the almond jar 7- close the lid 8- place cup on table 9- place jar lid on table 10- pick up cereal scoop 11- drop pistachio into cup 12- drop pistachio into cup 13- drop cereal scoop into stand 14- place lid on jar 15- Place the holder near the chili lemon pistachio jar 16- place cup on table 17- place jar lid on table 18- pick the tong 19- drop chips into cup 20- drop tong into table Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place jar lid on table 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand 6- Place the hole near the almond jar 7- close the lid 8- place cup on table 9- place jar lid on table 10- pick up cereal scoop 11- drop pistachio into cup 12- drop pistachio into cup 13- drop cereal scoop into stand 14- place lid on jar 15- Place the holder near the chili lemon pistachio jar 16- place cup on table 17- place jar lid on table 18- pick the tong 19- drop chips into cup 20- drop tong into table Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e","video":"14127240681572062567.mp4"}
+{"uid":"11003580285141387767","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tong\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tong 2- drop chips into cup 3- drop tong into table 4- place lid on jar 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up tong Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: pick up tong\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up tong Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: pick up tong\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tong\n\u003c/PRED\u003e","video":"17448006985140149794.mp4"}
+{"uid":"17905249495020643197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15733411620168760225.mp4"}
+{"uid":"12084593014572492534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the first drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15042366729944077039.mp4"}
+{"uid":"4111915897421301982","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong 20- drop chips into cup Q: immediate next step? \u003cPRED\u003eA: place the tong in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place the tong in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table 19- pick the tong 20- drop chips into cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the tong in the holder 2- place lid on jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tong in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tong in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tong in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tong in the holder\n\u003c/PRED\u003e","video":"15778514044543385944.mp4"}
+{"uid":"13413531495340634731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11160444162521519131.mp4"}
+{"uid":"2854625355646920428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange from basket to big bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5105685124612626422.mp4"}
+{"uid":"3641935240155141736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6553162760150638580.mp4"}
+{"uid":"5392283581113319927","text":"\u003ctask:success:discrete:True\u003e\nplace the paper cup in front of the  pistachio jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup in front of the  pistachio jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- pick up cereal scoop 3- drop pistachio into cup 4- drop pistachio into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e","video":"40774201581225138.mp4"}
+{"uid":"12988740439103250397","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop cereal scoop into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup Q: immediate next step? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop cereal scoop into stand 2- place lid on jar 3- Place the holder near the chili lemon pistachio jar 4- place cup on table 5- place jar lid on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop cereal scoop into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the Pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the Pistachio into the cup\n\u003c/PRED\u003e","video":"7208272527183371002.mp4"}
+{"uid":"7344258419117712497","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16785110666327941863.mp4"}
+{"uid":"4397716794798326464","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl near the mango jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bowl near the mango jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6609952052968295776.mp4"}
+{"uid":"11957024947617162439","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup into the drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- close the first drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8125664010796877992.mp4"}
+{"uid":"11182100242477934583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop pistachio into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9881812321549875050.mp4"}
+{"uid":"14818173793065752160","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12977686782738944351.mp4"}
+{"uid":"9666776579347242267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17309313829334552009.mp4"}
+{"uid":"13283389497633102769","text":"\u003ctask:success:discrete:True\u003e\nplace cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e","video":"12663291851169038593.mp4"}
+{"uid":"1267140344296212118","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place jar lid on table 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace jar lid on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e","video":"15628539024912491291.mp4"}
+{"uid":"5034770277729923826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball on paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8062062107014509292.mp4"}
+{"uid":"14574075971851424309","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up cereal scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up cereal scoop 2- drop almond into cup 3- drop almond into cup 4- drop cereal scoop into stand 5- Place the hole near the almond jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up cereal scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e","video":"9736858083505186288.mp4"}
+{"uid":"15749775676196759841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15908645504632743466.mp4"}
+{"uid":"12875663612714565804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11372369026210168238.mp4"}
+{"uid":"11220462689890748990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14004102245792798718.mp4"}
+{"uid":"13198624254224978376","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the counter top\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup on the counter top\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup on the counter top 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup on the counter top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the counter top\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup on the counter top\n\u003c/PRED\u003e","video":"1155222279447281908.mp4"}
+{"uid":"15621566176435847847","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hole near the almond jar 2- close the lid 3- place cup on table 4- place jar lid on table 5- pick up cereal scoop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hole near the almond jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hole near the almond jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the hole near the almond jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hole near the almond jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand Q: immediate next step? \u003cPRED\u003eA: Place the hole near the almond jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Place the hole near the almond jar\n\u003c/PRED\u003e","video":"3539048599526725047.mp4"}
+{"uid":"13944361325949789554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9056019774156924001.mp4"}
+{"uid":"11013825764416346747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the lid on the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17379438770651425756.mp4"}
+{"uid":"304586967483789787","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace lid on jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar Q: next 5 steps? \u003cPRED\u003eA: 1- place lid on jar 2- place cup on table 3- place jar lid on table 4- pick up cereal scoop 5- drop pistachio into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace lid on jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar Q: immediate next step? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e","video":"7233734475287248619.mp4"}
+{"uid":"16168584960453396662","text":"\u003ctask:success:discrete:True\u003e\nput the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e","video":"13832333259121351892.mp4"}
+{"uid":"186848852934024083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9331982042295200311.mp4"}
+{"uid":"9960909382080383963","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop almond into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop Q: next 5 steps? \u003cPRED\u003eA: 1- drop almond into cup 2- drop almond into cup 3- drop cereal scoop into stand 4- Place the hole near the almond jar 5- close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop Q: immediate next step? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop almond into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7448834301360272820.mp4"}
+{"uid":"4976681412136869692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3187107351831335614.mp4"}
+{"uid":"12680679992658786285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy into a brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7226310232453004695.mp4"}
+{"uid":"11789002527498427328","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar Q: next 5 steps? \u003cPRED\u003eA: 1- place cup on table 2- place jar lid on table 3- pick the tong 4- drop chips into cup 5- drop tong into table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e","video":"9852023480239248245.mp4"}
+{"uid":"7984617356587011218","text":"\u003ctask:success:discrete:True\u003e\nput the chips in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the chips in the paper cup\n\u003c/PRED\u003e","video":"8388968671820260580.mp4"}
+{"uid":"10329882371240107627","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop cereal scoop into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6884824620236158465.mp4"}
+{"uid":"6651512350000007776","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14771013061836758334.mp4"}
+{"uid":"10884619899420047894","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11227970768777633836.mp4"}
+{"uid":"16210349008210956065","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup into the drawer 2- put the cup into the drawer 3- place the cup into the drawer 4- put the cup into the drawer 5- place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer Q: immediate next step? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7225506622537158636.mp4"}
+{"uid":"8634746642315309147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold the left waist portion upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"181406296700387258.mp4"}
+{"uid":"14249028387245280628","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace lid on jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place jar lid on table 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand 6- Place the hole near the almond jar 7- close the lid 8- place cup on table 9- place jar lid on table 10- pick up cereal scoop 11- drop pistachio into cup 12- drop pistachio into cup 13- drop cereal scoop into stand 14- place lid on jar 15- Place the holder near the chili lemon pistachio jar 16- place cup on table 17- place jar lid on table 18- pick the tong 19- drop chips into cup 20- drop tong into table Q: immediate next step? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace lid on jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place lid on jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place jar lid on table 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand 6- Place the hole near the almond jar 7- close the lid 8- place cup on table 9- place jar lid on table 10- pick up cereal scoop 11- drop pistachio into cup 12- drop pistachio into cup 13- drop cereal scoop into stand 14- place lid on jar 15- Place the holder near the chili lemon pistachio jar 16- place cup on table 17- place jar lid on table 18- pick the tong 19- drop chips into cup 20- drop tong into table Q: next 5 steps? \u003cPRED\u003eA: 1- place lid on jar 2- done\n\u003c/PRED\u003e","video":"11520830585043063769.mp4"}
+{"uid":"7038750765308411265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pebble in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18079211712962623586.mp4"}
+{"uid":"4999980687602108685","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the mango jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the mango jar 2- pick the tong 3- drop chips into cup 4- drop tong into table 5- place lid on jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the mango jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the mango jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: immediate next step? \u003cPRED\u003eA: Open the mango jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Open the mango jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the mango jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8084826958173173707.mp4"}
+{"uid":"17274935010754636310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1205544779879235802.mp4"}
+{"uid":"15897651592098927486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14996484019579707336.mp4"}
+{"uid":"2785856676566729311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6770733862211200438.mp4"}
+{"uid":"1035258271305842966","text":"\u003ctask:success:discrete:True\u003e\nplace the paper cup on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup on the counter top\n\u003c/PRED\u003e","video":"8174727994546871654.mp4"}
+{"uid":"13170773791833827244","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: immediate next step? \u003cPRED\u003eA: Open the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the chili lemon pistachio jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: Open the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the chili lemon pistachio jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the chili lemon pistachio jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the chili lemon pistachio jar 2- pick up cereal scoop 3- drop pistachio into cup 4- drop pistachio into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the chili lemon pistachio jar\n\u003c/PRED\u003e","video":"13347412591204023834.mp4"}
+{"uid":"12758318156058350999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9175202154999216271.mp4"}
+{"uid":"6919275663667610754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16185988800704572834.mp4"}
+{"uid":"13384748480629974475","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the first drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: close the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer 6- place the cup into the drawer 7- put the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: close the first drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the first drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the first drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer 6- place the cup into the drawer 7- put the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the first drawer 2- done\n\u003c/PRED\u003e","video":"1037740249842915952.mp4"}
+{"uid":"17377731985553546480","text":"\u003ctask:success:discrete:True\u003e\nPut the bowl near the chili lemon pistachio jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl near the chili lemon pistachio jar\n\u003c/PRED\u003e","video":"4574692947758452572.mp4"}
+{"uid":"11624119350665063683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5964079835256372439.mp4"}
+{"uid":"10541045780565378493","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop almond into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup Q: immediate next step? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop almond into cup 2- drop cereal scoop into stand 3- Place the hole near the almond jar 4- close the lid 5- place cup on table\n\u003c/PRED\u003e","video":"4341634987672377007.mp4"}
+{"uid":"6931819307760808941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15700849455138408572.mp4"}
+{"uid":"3584702791024708828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coffee mixing sticks into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7787352495745814064.mp4"}
+{"uid":"16313555437225030475","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer 6- place the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer 6- place the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup into the drawer 2- close the first drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6016240898275011205.mp4"}
+{"uid":"3685103510597487441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9842717354064464844.mp4"}
+{"uid":"15246759750179894442","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- pick up cereal scoop 3- drop almond into cup 4- drop almond into cup 5- drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e","video":"17231788671273516511.mp4"}
+{"uid":"5972157454331591838","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop chips into cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table Q: immediate next step? \u003cPRED\u003eA: drop chips into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop chips into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop chips into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop chips into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table 18- place jar lid on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop chips into cup 2- drop tong into table 3- place lid on jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop chips into cup\n\u003c/PRED\u003e","video":"9021919021916875108.mp4"}
+{"uid":"3697572730883875398","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup Q: immediate next step? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop almond into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop cereal scoop into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop almond into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop cereal scoop into stand 2- Place the hole near the almond jar 3- close the lid 4- place cup on table 5- place jar lid on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: drop cereal scoop into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop cereal scoop into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5094178409324697733.mp4"}
+{"uid":"11533451587102386042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1209408943234600754.mp4"}
+{"uid":"5873873480686301191","text":"\u003ctask:success:discrete:True\u003e\nplace cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: immediate next step? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace jar lid on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace jar lid on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand 15- place lid on jar 16- Place the holder near the chili lemon pistachio jar 17- place cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- place jar lid on table 2- drop chips into cup 3- drop tong into table 4- place lid on jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: place jar lid on table\n\u003c/PRED\u003e","video":"11032029471338657019.mp4"}
+{"uid":"17448676904032889164","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put mugs back into the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put mugs back into the drawer . last 20 steps: 1- open the first drawer 2- place the cup into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup into the drawer 2- place the cup into the drawer 3- put the cup into the drawer 4- place the cup into the drawer 5- put the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup into the drawer\n\u003c/PRED\u003e","video":"13956339284770475174.mp4"}
+{"uid":"8250395584908060171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1861310073922542120.mp4"}
+{"uid":"16360220681936438089","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- Place the holder near the chili lemon pistachio jar 3- place cup on table 4- place jar lid on table 5- pick the tong\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please grab some almonds,chile lime almonds and mangos in a cup. last 20 steps: 1- place the paper cup on the counter top 2- place jar lid on table 3- pick up cereal scoop 4- drop almond into cup 5- drop almond into cup 6- drop cereal scoop into stand 7- Place the hole near the almond jar 8- close the lid 9- place cup on table 10- place jar lid on table 11- pick up cereal scoop 12- drop pistachio into cup 13- drop pistachio into cup 14- drop cereal scoop into stand Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12387471841115936598.mp4"}
+{"uid":"4009458517919558260","text":"\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"4701703637774576199.mp4"}
+{"uid":"5517082545993179630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2812275833585606043.mp4"}
+{"uid":"629848782803105080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8370452702398854506.mp4"}
+{"uid":"6392099438669281224","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward Q: immediate next step? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the bowl 2- place the orange in the bowl 3- place the banana in the bowl 4- place the fruit in the bowl 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e","video":"16765900426435046507.mp4"}
+{"uid":"7601985805976683991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13947181868409083871.mp4"}
+{"uid":"1890860546194632534","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl 5- place the orange in the bowl 6- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl 5- place the orange in the bowl 6- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the bowl 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11551901364950835180.mp4"}
+{"uid":"646889116196684666","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13009903275047615462.mp4"}
+{"uid":"6175211858375771829","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"4271743337001364449.mp4"}
+{"uid":"900650010633164495","text":"\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket 9- place the toy in the basket 10- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket 9- place the toy in the basket 10- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9514151120141257100.mp4"}
+{"uid":"16562171548271740714","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5756133913188801466.mp4"}
+{"uid":"15310631615657356318","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place the banana in the bowl 3- place the fruit in the bowl 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"7523460238979435489.mp4"}
+{"uid":"18080833487881347138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the water bottle in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12218164234087222116.mp4"}
+{"uid":"6534986765283777133","text":"\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- close the door 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17743708453081712583.mp4"}
+{"uid":"12729379072449900728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5358890507316600835.mp4"}
+{"uid":"10335591564362225956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11193092880262517384.mp4"}
+{"uid":"12715126930146572370","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- close the door 2- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- close the door 2- close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1499685738745774160.mp4"}
+{"uid":"16638759855887183770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the orange snack bag on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6435020457855761556.mp4"}
+{"uid":"13909394648029055731","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4336864133236505898.mp4"}
+{"uid":"18098511813363270885","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"18393566504328183344.mp4"}
+{"uid":"11772231530991341470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9726671337775652941.mp4"}
+{"uid":"7077862637886637226","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- close the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6952977030676758569.mp4"}
+{"uid":"12543767510016672340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the scrubber packet to the back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4064792096155134504.mp4"}
+{"uid":"13680926676557558355","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket 9- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket 9- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- done\n\u003c/PRED\u003e","video":"14476434179243378340.mp4"}
+{"uid":"12811527435382254801","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3887685036334387006.mp4"}
+{"uid":"17281737238110927873","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl 5- place the orange in the bowl 6- place the banana in the bowl 7- place the fruit in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl 5- place the orange in the bowl 6- place the banana in the bowl 7- place the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"1546941600305373962.mp4"}
+{"uid":"12204590345918936836","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl 5- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl 5- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the fruit in the bowl 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1323159428570038918.mp4"}
+{"uid":"15168339235375867083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7049286107856514098.mp4"}
+{"uid":"17501892101453756073","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the apple in the bowl 3- move the bowl backward 4- place the fruit in the bowl 5- place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"10293900535209957797.mp4"}
+{"uid":"1603449354524859142","text":"\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"4298551894382850481.mp4"}
+{"uid":"7922361791020376479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1338684123031017021.mp4"}
+{"uid":"17881391771777420971","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- close the door 2- close the door 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- close the door 2- close the door 3- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12626895975837626206.mp4"}
+{"uid":"11043279967860430462","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"416962836964965288.mp4"}
+{"uid":"7987452177832507729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9630897568604256403.mp4"}
+{"uid":"6354504753950685107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15063383661446021120.mp4"}
+{"uid":"221816803168356980","text":"\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"15175647241262725369.mp4"}
+{"uid":"6654602862526525492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess piece on the chess board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1324847550686692853.mp4"}
+{"uid":"12325820698188446044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"279718145291480730.mp4"}
+{"uid":"1677054491429015757","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"16390153219810737651.mp4"}
+{"uid":"10595693482564099668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pouch upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2580257593245041413.mp4"}
+{"uid":"8853230060245374240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the locker door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12022708031103260027.mp4"}
+{"uid":"7506604695116264698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1328665806395339843.mp4"}
+{"uid":"2920583125613985031","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"1249378902358379227.mp4"}
+{"uid":"913813425281292925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1488957730932641780.mp4"}
+{"uid":"5989808274469882824","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e","video":"13156739733013824733.mp4"}
+{"uid":"7008942622777444986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17364613607477710979.mp4"}
+{"uid":"15665097727235440088","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move the bowl backward 2- place the fruit in the bowl 3- place the orange in the bowl 4- place the banana in the bowl 5- place the fruit in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer 2- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the bowl backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the bowl backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e","video":"15582666973442658385.mp4"}
+{"uid":"17476449699751053781","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- move the bowl backward 3- place the fruit in the bowl 4- place the orange in the bowl 5- place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a fruit bowl with the fruits in the top drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"7376146643616184647.mp4"}
+{"uid":"10457171767418936792","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- done\n\u003c/PRED\u003e","video":"11095593424524297696.mp4"}
+{"uid":"11583736221885620947","text":"\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"17266132231302744640.mp4"}
+{"uid":"6537639466153175907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15032198109640688346.mp4"}
+{"uid":"6930893624191759153","text":"\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"4202880612801236245.mp4"}
+{"uid":"11656222275345253532","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder Q: immediate next step? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fork into the holder 2- place fork in forks holder 3- place fork in forks holder 4- place napkin on the table 5- place orange on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8415593612328153103.mp4"}
+{"uid":"12773335986212622891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10463937903043955192.mp4"}
+{"uid":"9677908768467611264","text":"\u003ctask:success:discrete:True\u003e\nplace fork in forks holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e","video":"18347085784523961545.mp4"}
+{"uid":"8888573305135840516","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- place napkin on the table 2- place orange on the napkin 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e","video":"6447732000389909442.mp4"}
+{"uid":"11814250356588676167","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11780728705360560619.mp4"}
+{"uid":"8290227751195451910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the red bull can out of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17081637026911312873.mp4"}
+{"uid":"17366902624592065027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scoop from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3393320714134968807.mp4"}
+{"uid":"9774086757856367585","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table 8- put the orange on the tissue paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table 8- put the orange on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3063636809328816401.mp4"}
+{"uid":"985082782677375141","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown paper on the table 2- place orange on the napkin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9539646524511479897.mp4"}
+{"uid":"8421131033954630037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8036768461996174872.mp4"}
+{"uid":"14368421260192715891","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- place fork in forks holder 3- place fork in forks holder 4- place napkin on the table 5- place orange on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2681808859551685449.mp4"}
+{"uid":"2939434824349100224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13187068393443812550.mp4"}
+{"uid":"1397099961414841196","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- place fork in forks holder 2- place napkin on the table 3- place orange on the napkin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fork in forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace fork in forks holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6410550737660625314.mp4"}
+{"uid":"9093783868215621748","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon into the holder 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoon into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e","video":"16532298187865709504.mp4"}
+{"uid":"12901384477311131118","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fork into the holder 2- place fork in forks holder 3- place napkin on the table 4- place orange on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e","video":"17360296839181916488.mp4"}
+{"uid":"7672839826330690179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16684988847334435615.mp4"}
+{"uid":"4603502683745528594","text":"\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"16213088218035007838.mp4"}
+{"uid":"3403657376270073767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8249706528745635426.mp4"}
+{"uid":"6801447960611711327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11781793123171667453.mp4"}
+{"uid":"12229496350857064926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15191941527231369525.mp4"}
+{"uid":"13912023877662463175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5621642055489400363.mp4"}
+{"uid":"740392015477018190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the spoon into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13024457368896687044.mp4"}
+{"uid":"7750186719901668047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2853749854802908102.mp4"}
+{"uid":"5583122871658717488","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table 8- place orange on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange on the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table 8- place orange on the napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7642871231702685487.mp4"}
+{"uid":"5577476781772948426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9635540769803776080.mp4"}
+{"uid":"7052968316632314705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6707779295898749365.mp4"}
+{"uid":"2350288073376603693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5307921848966786609.mp4"}
+{"uid":"8074922965584950967","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fork into the holder 2- place napkin on the table 3- place orange on the napkin 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e","video":"15823400662024365635.mp4"}
+{"uid":"3024439243839929693","text":"\u003ctask:success:discrete:True\u003e\nPlace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e","video":"15186078593428379350.mp4"}
+{"uid":"5903050542230737117","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the spoon into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5172137453563617437.mp4"}
+{"uid":"10481194762773688862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9049654886422186630.mp4"}
+{"uid":"4855049611122262741","text":"\u003ctask:success:discrete:True\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- put the tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- put the tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14865410176333635941.mp4"}
+{"uid":"18206654300923705463","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table 8- Place the orange on the brown paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the brown paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange on the brown paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table 8- Place the orange on the brown paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9922754948319468428.mp4"}
+{"uid":"460714607917695032","text":"\u003ctask:success:discrete:True\u003e\nput the fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e","video":"9983294699775818521.mp4"}
+{"uid":"2965946067280322821","text":"\u003ctask:success:discrete:False\u003e\nplace spoon in spoons holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon in spoons holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in spoons holder 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder\n\u003c/PRED\u003e","video":"16882822983020780261.mp4"}
+{"uid":"4004397606942401846","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17195158271644108245.mp4"}
+{"uid":"499708562088527057","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table Q: immediate next step? \u003cPRED\u003eA: place orange on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the napkin 2- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place orange on the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the napkin\n\u003c/PRED\u003e","video":"16868292409524678414.mp4"}
+{"uid":"6927490161951069830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7351571948415263132.mp4"}
+{"uid":"15601151516395221196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace small packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"679081920023804911.mp4"}
+{"uid":"17251022820013550853","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18191942805462088794.mp4"}
+{"uid":"15563706234089389459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9990787515399127878.mp4"}
+{"uid":"11762656233475936515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10926507361916043972.mp4"}
+{"uid":"8356771909621394920","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e","video":"18078271010250835401.mp4"}
+{"uid":"1091106515929936374","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: put the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table Q: immediate next step? \u003cPRED\u003eA: put the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the tissue paper\n\u003c/PRED\u003e","video":"6115737494648737625.mp4"}
+{"uid":"3224268547060483554","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the glass 2- place napkin on the table 3- place orange on the napkin 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e","video":"13795774970365899407.mp4"}
+{"uid":"7822462425412542587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7395999594843509970.mp4"}
+{"uid":"9362260635245778701","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16838149183983399325.mp4"}
+{"uid":"3259385611453624719","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the spoon into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2242380141985247467.mp4"}
+{"uid":"11299451288504831778","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7376076273243290761.mp4"}
+{"uid":"11184256685929509413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6556753248263389306.mp4"}
+{"uid":"1082878651647765117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky note on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14124932685645096082.mp4"}
+{"uid":"1913683658893111959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15449262000217500630.mp4"}
+{"uid":"3286092194013446969","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- place fork in forks holder 3- place fork in forks holder 4- place fork in forks holder 5- place napkin on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"17056317000685265158.mp4"}
+{"uid":"188320418375311493","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the brown paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the brown paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the brown paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the brown paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the brown paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the orange on the brown paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder 5- place fork in forks holder 6- place fork in forks holder 7- place napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the brown paper 2- done\n\u003c/PRED\u003e","video":"17037493224612570474.mp4"}
+{"uid":"15344041670182137852","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the glass 2- place fork in forks holder 3- place fork in forks holder 4- place napkin on the table 5- place orange on the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder Q: immediate next step? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e","video":"17603901558867197483.mp4"}
+{"uid":"11623083735856012141","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder Q: immediate next step? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon into the holder 2- place fork in forks holder 3- place fork in forks holder 4- place napkin on the table 5- place orange on the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e","video":"12730816881890203729.mp4"}
+{"uid":"12459132176812005592","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1003894318912019444.mp4"}
+{"uid":"1479482962089869093","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder Q: immediate next step? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon in spoons holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoon in spoons holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in spoons holder 2- place fork in forks holder 3- place fork in forks holder 4- place fork in forks holder 5- place napkin on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e","video":"2820992859280027863.mp4"}
+{"uid":"10131288829246229652","text":"\u003ctask:success:discrete:False\u003e\nput the fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the glass 2- place fork in forks holder 3- place napkin on the table 4- place orange on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the glass\n\u003c/PRED\u003e","video":"12486218766414000626.mp4"}
+{"uid":"1131147115666766404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fork in forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder Q: next 5 steps? \u003cPRED\u003eA: 1- place fork in forks holder 2- place fork in forks holder 3- place fork in forks holder 4- place napkin on the table 5- place orange on the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoon in spoons holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fork in forks holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder Q: immediate next step? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e","video":"13248977488139478952.mp4"}
+{"uid":"4068511139477359535","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder Q: next 5 steps? \u003cPRED\u003eA: 1- place fork in forks holder 2- place fork in forks holder 3- place napkin on the table 4- place orange on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fork in forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass 2- place spoon in spoons holder 3- place spoon in spoons holder 4- place fork in forks holder Q: immediate next step? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fork in forks holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3573291933152413370.mp4"}
+{"uid":"1851521891618442320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the right yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10584136760124987310.mp4"}
+{"uid":"18360950803621420827","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: 1- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon into the holder 2- place spoon in spoons holder 3- place fork in forks holder 4- place fork in forks holder 5- place fork in forks holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon into the holder\n\u003c/PRED\u003e","video":"6597961945275096381.mp4"}
+{"uid":"3286781727527818825","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon in spoons holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter? Q: immediate next step? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place spoon in spoons holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoon in spoons holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put an orange on top of a napkin and leave it on the counter?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in spoons holder 2- place spoon in spoons holder 3- place fork in forks holder 4- place fork in forks holder 5- place fork in forks holder\n\u003c/PRED\u003e","video":"14975946927277217387.mp4"}
+{"uid":"7478954222488800313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18089272785569066163.mp4"}
+{"uid":"8714450802258962724","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in forks holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace fork in forks holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5166259134238419265.mp4"}
+{"uid":"6627666164500442263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"595436568308108790.mp4"}
+{"uid":"8186982946830974554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"9759091128535781408.mp4"}
+{"uid":"5483055451634291118","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"939526323924341393.mp4"}
+{"uid":"15770766777947556444","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"14810040736828515241.mp4"}
+{"uid":"1367784552287072109","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"13165453246540328474.mp4"}
+{"uid":"17045802579403389476","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"3984467438027341761.mp4"}
+{"uid":"13629421152858559208","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- put packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2943561300740266400.mp4"}
+{"uid":"14773023867860243606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9263290829786211475.mp4"}
+{"uid":"14747293434936677259","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e","video":"13467283758175877689.mp4"}
+{"uid":"9669981990740901760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2882074413944734666.mp4"}
+{"uid":"5953880763016291523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15040993468859777630.mp4"}
+{"uid":"1223869832737652034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo straight into the hallway. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12407076396022266679.mp4"}
+{"uid":"3916260233530976050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5689985111536744301.mp4"}
+{"uid":"11429996547571468962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4145483276309563882.mp4"}
+{"uid":"4599827535880073327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9159726191408141408.mp4"}
+{"uid":"9801224802829098860","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- put packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"554873737872045473.mp4"}
+{"uid":"3737440417679597936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16877222122019749862.mp4"}
+{"uid":"440009965962492432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13921200662368666373.mp4"}
+{"uid":"16496541016591724271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4266721330916095684.mp4"}
+{"uid":"1455799768263845184","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"8121448350935425084.mp4"}
+{"uid":"11611686751057921679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"3106032596120819237.mp4"}
+{"uid":"6391346251720210326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17066449275576689080.mp4"}
+{"uid":"1608523643844267350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7055403141605913020.mp4"}
+{"uid":"3091495240590155289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7582907342675760880.mp4"}
+{"uid":"10948795092186652957","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"1414346678296602670.mp4"}
+{"uid":"10390026161535534817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"479654435896412918.mp4"}
+{"uid":"9073384407951366565","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"203402667907073133.mp4"}
+{"uid":"14882016700576277780","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6396810163940005552.mp4"}
+{"uid":"8481508524276119691","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place pipcorn packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"999165758870562025.mp4"}
+{"uid":"1567545415055603439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17432057122048038504.mp4"}
+{"uid":"13828412597786362895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11993601589222126540.mp4"}
+{"uid":"14697824048023488553","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table 7- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"12599110577722482224.mp4"}
+{"uid":"4889739856236725002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm towards the left paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18041245514926412119.mp4"}
+{"uid":"14447695515889342424","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place pipcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table 6- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"809014171801972795.mp4"}
+{"uid":"2682862845706617047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4793120646597952101.mp4"}
+{"uid":"5148956056847238986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14001807788937994662.mp4"}
+{"uid":"11196116736950542077","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"13500660684489630307.mp4"}
+{"uid":"10939187687807368401","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place orange packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e","video":"1545437147087743746.mp4"}
+{"uid":"11165068925570237780","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- done\n\u003c/PRED\u003e","video":"8350703356633890665.mp4"}
+{"uid":"9778201132924673618","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"3030473756761124576.mp4"}
+{"uid":"18358551863927988945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3100295998514008282.mp4"}
+{"uid":"11647147470632233063","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- place orange packet on the table 3- put packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e","video":"4038789306274445039.mp4"}
+{"uid":"2808427413109604221","text":"\u003ctask:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- put packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9260710477885001796.mp4"}
+{"uid":"7294779909320733716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"38990574792081807.mp4"}
+{"uid":"15074007346476512863","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- put packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10013368765057743412.mp4"}
+{"uid":"15070968951337972374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2184321008700439051.mp4"}
+{"uid":"10136169114596362396","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"949893052852913632.mp4"}
+{"uid":"13829296818888866559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2819574816451387708.mp4"}